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() - l: WorkSite::WorkSite -- Finished loading parameters aye: WorkSite::WorkSite -- Starting Depth is 0.000000 meters red: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 Con: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 trolS: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 erve: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 r : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x2300c Supervisor::createTask() - dynamicControlServer : New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. : Navigation: Opening Acoustic Modem Interface: Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciSer: Preparing to fork ver : 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::createTask() - dvlServer Supe: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts rvi: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts sor: SerialDevice: done... ::c: SerialDevice: done... reateTask() - fanServer Supervisor::createTask() - dropWeightServer : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() Superv: SerialDevice: done... isor::createTa: SerialDevice: done... sk() - sonardyneServer Superv: SerialDevice: done... isor::createTask: SerialDevice: done... () - : Crossbow.cc: In getSerialNumber() cameraServer Supervisor::create: Gps: initializing Tas: SerialDevice: done... k() - benthosServer : SerialDevice: done... : SerialDevice: done... : SerialDevice: done... Superviso: SerialDevice: done... r::createTask() - terrainAidDriver : SonardyneServer.cc was last compiled on Jun 26 2009, 02:26:26 : SerialDevice: done... : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : Navigation: acommsIF = 0x6fa78 : ahrs if is Ahrs : SerialDevice: done... : SonardyneDriver.cc was last compiled on Jun 26 2009, 02:26:23 : CameraDriver:: Before navigation IF. : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SerialDeviceDriver::initialize() : SerialDevice: done... : Starting DVL Initialization. : SerialDevice: done... : BenthosModem::commandMode() - confirming... : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1480.000000 m/s Beacon = V7,7 MRPL = 2 ms : PeriodicTask::run() (fanDriver) - sampleInterval=1000, maxInterval=1000 : Set verbose level : SerialDevice: done... : Set write delay : SerialDevice: done... : 3 Modules found : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : Set remote response waiting time : AshtechGps::processRecord() - ,3642.69335,N,12211.13043,W,1,09,1.0,-2.25,M,-33.33,M,,*7A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : Turn on doppler correction : NMEA Update: $GPGGA,190419.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.00 > : TE00:00:00.60 > : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04238 > : WP0001 > : WN25 > : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : BenthosModem::onlineMode() - confirming... : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,190420.00,3642.69310,N,12211.13009,W,1,09,1.0,-2.28,M,-33.33,M,,*74 : header is >CS 7 : Dvl record header not found. Resynchronize. : NMEA Update: $GPGGA,190420.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,190421.00,3642.69312,N,12211.12990,W,1,09,1.0,-2.51,M,-33.33,M,,*71 : NMEA Update: $GPGGA,190421.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = 0.00 : AshtechGps::processRecord() - $GPGGA,190422.00,3642.69308,N,12211.12969,W,1,09,1.0,-3.07,M,-33.33,M,,*7D : NMEA Update: $GPGGA,190422.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,190423.00,3642.69361,N,12211.12975,W,1,09,1.0,-3.21,M,-33.33,M,,*7A : NMEA Update: $GPGGA,190423.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,190424.00,3642.69386,N,12211.12983,W,1,09,1.0,-3.09,M,-33.33,M,,*77 : NMEA Update: $GPGGA,190424.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,190425.00,3642.69419,N,12211.12989,W,1,09,1.0,-2.89,M,-33.33,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190425.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : Parosci.cc -- Initial pressure = 1.103162 : Parosci.cc -- Parosci initial pressure period = 30.138540 : AshtechGps::processRecord() - $GPGGA,190426.00,3642.69434,N,12211.12975,W,1,09,1.0,-2.67,M,-33.33,M,,*7B : Parosci.cc -- Parosci initial temp period = 5.841762 : 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 : NMEA Update: $GPGGA,190426.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,190427.00,3642.69433,N,12211.12932,W,1,09,1.0,-2.44,M,-33.33,M,,*7F : NMEA Update: $GPGGA,190427.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,190428.00,3642.69427,N,12211.12892,W,1,09,1.0,-2.59,M,-33.33,M,,*72 : NMEA Update: $GPGGA,190428.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190429.00,3642.69408,N,12211.12869,W,1,09,1.0,-3.17,M,-33.33,M,,*71 : NMEA Update: $GPGGA,190429.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,190430.00,3642.69395,N,12211.12856,W,1,09,1.0,-3.66,M,-33.33,M,,*70 : NMEA Update: $GPGGA,190430.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,190431.00,3642.69380,N,12211.12855,W,1,09,1.0,-4.12,M,-33.33,M,,*72 : NMEA Update: $GPGGA,190431.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,190432.00,3642.69380,N,12211.12843,W,1,09,1.0,-3.74,M,-33.33,M,,*71 : NMEA Update: $GPGGA,190432.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190433.00,3642.69384,N,12211.12842,W,1,09,1.0,-3.53,M,-33.33,M,,*70 : NMEA Update: $GPGGA,190433.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,190434.00,3642.69395,N,12211.12854,W,1,09,1.0,-3.34,M,-33.33,M,,*71 : NMEA Update: $GPGGA,190434.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,190435.00,3642.69391,N,12211.12837,W,1,09,1.0,-2.55,M,-33.33,M,,*77 : NMEA Update: $GPGGA,190435.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,190436.00,3642.69401,N,12211.12801,W,1,09,1.0,-2.03,M,-33.33,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190436.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*59 : AshtechGps::processRecord() - $GPGGA,190437.00,3642.69410,N,12211.12755,W,1,09,1.0,-2.37,M,-33.33,M,,*74 : NMEA Update: $GPGGA,190437.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*58 : AshtechGps::processRecord() - $GPGGA,190438.00,3642.69437,N,12211.12740,W,1,09,1.0,-2.93,M,-33.33,M,,*74 : NMEA Update: $GPGGA,190438.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,190439.00,3642.69452,N,12211.12732,W,1,09,1.0,-3.11,M,-33.33,M,,*78 : NMEA Update: $GPGGA,190439.59,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190440.00,3642.69474,N,12211.12741,W,1,09,1.0,-2.88,M,-33.33,M,,*77 : NMEA Update: $GPGGA,190440.59,000.0000,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,190441.00,3642.69468,N,12211.12729,W,1,09,1.0,-2.85,M,-33.33,M,,*78 : **** 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 : NMEA Update: $GPGGA,190441.59,3642.6947,N,-12211.1273,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.009999) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - $GPGGA,190442.00,3642.69463,N,12211.12712,W,1,09,1.0,-2.76,M,-33.33,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 2 of 5 needed : NMEA Update: $GPGGA,190442.59,3642.6946,N,-12211.1271,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,190443.00,3642.69447,N,12211.12677,W,1,09,1.0,-2.88,M,-33.33,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : GetGPS::execute() -- Got a new GPS hit: 3 of 5 needed : NMEA Update: $GPGGA,190443.59,3642.6944,N,-12211.1267,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,190444.00,3642.69444,N,12211.12666,W,1,09,1.0,-3.35,M,-33.33,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 4 of 5 needed : NMEA Update: $GPGGA,190444.59,3642.6945,N,-12211.1267,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190445.00,3642.69452,N,12211.12662,W,1,09,1.0,-3.77,M,-33.33,M,,*77 : 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 setpoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190445.59,3642.6945,N,-12211.1266,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190446.00,3642.69459,N,12211.12658,W,1,09,1.0,-3.44,M,-33.33,M,,*76 : NMEA Update: $GPGGA,190446.59,3642.6946,N,-12211.1266,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190447.00,3642.69460,N,12211.12640,W,1,09,1.0,-2.89,M,-33.33,M,,*74 : NMEA Update: $GPGGA,190447.59,3642.6946,N,-12211.1264,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190448.00,3642.69445,N,12211.12617,W,1,09,1.0,-2.95,M,-33.33,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190448.59,3642.6944,N,-12211.1261,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,190449.00,3642.69442,N,12211.12612,W,1,09,1.0,-2.84,M,-33.33,M,,*70 : NMEA Update: $GPGGA,190449.59,3642.6944,N,-12211.1261,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190450.00,3642.69440,N,12211.12614,W,1,09,1.0,-2.94,M,-33.33,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190450.59,3642.6944,N,-12211.1262,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190451.00,3642.69446,N,12211.12630,W,1,09,1.0,-2.91,M,-33.33,M,,*79 : NMEA Update: $GPGGA,190451.59,3642.6945,N,-12211.1263,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190452.00,3642.69444,N,12211.12621,W,1,09,1.0,-2.81,M,-33.33,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190452.59,3642.6944,N,-12211.1262,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190453.00,3642.69436,N,12211.12614,W,1,09,1.0,-2.68,M,-33.33,M,,*7C : NMEA Update: $GPGGA,190453.59,3642.6943,N,-12211.1261,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190454.00,3642.69412,N,12211.12592,W,1,09,1.0,-2.75,M,-33.33,M,,*7C : NMEA Update: $GPGGA,190454.59,3642.6941,N,-12211.1259,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190455.00,3642.69384,N,12211.12583,W,1,09,1.0,-3.20,M,-33.33,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190455.59,3642.6938,N,-12211.1259,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190456.00,3642.69356,N,12211.12594,W,1,09,1.0,-3.34,M,-33.33,M,,*7B : NMEA Update: $GPGGA,190456.59,3642.6935,N,-12211.1260,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190457.00,3642.69326,N,12211.12616,W,1,09,1.0,-3.10,M,-33.33,M,,*72 : NMEA Update: $GPGGA,190457.59,3642.6932,N,-12211.1262,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190458.00,3642.69292,N,12211.12622,W,1,09,1.0,-2.73,M,-33.33,M,,*70 : NMEA Update: $GPGGA,190458.59,3642.6929,N,-12211.1263,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190459.00,3642.69242,N,12211.12606,W,1,09,1.0,-2.37,M,-33.33,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190459.59,3642.6923,N,-12211.1260,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,190500.00,3642.69187,N,12211.12600,W,1,09,1.0,-2.68,M,-33.33,M,,*71 : NMEA Update: $GPGGA,190500.59,3642.6918,N,-12211.1260,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190501.00,3642.69132,N,12211.12611,W,1,09,1.0,-3.10,M,-33.33,M,,*70 : NMEA Update: $GPGGA,190501.59,3642.6913,N,-12211.1262,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190502.00,3642.69104,N,12211.12660,W,1,09,1.0,-3.44,M,-33.33,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190502.59,3642.6910,N,-12211.1267,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190503.00,3642.69078,N,12211.12706,W,1,09,1.0,-3.32,M,-33.33,M,,*7A : NMEA Update: $GPGGA,190503.59,3642.6907,N,-12211.1272,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190504.00,3642.69050,N,12211.12737,W,1,09,1.0,-3.21,M,-33.33,M,,*77 : NMEA Update: $GPGGA,190504.59,3642.6905,N,-12211.1274,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190505.00,3642.69028,N,12211.12758,W,1,09,1.0,-2.90,M,-33.33,M,,*7B : NMEA Update: $GPGGA,190505.59,3642.6902,N,-12211.1276,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190506.00,3642.68993,N,12211.12776,W,1,09,1.0,-2.87,M,-33.33,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190506.59,3642.6899,N,-12211.1279,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190507.00,3642.68964,N,12211.12806,W,1,09,1.0,-2.83,M,-33.33,M,,*7F : NMEA Update: $GPGGA,190507.59,3642.6896,N,-12211.1282,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190508.00,3642.68916,N,12211.12830,W,1,09,1.0,-2.79,M,-33.33,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190508.59,3642.6891,N,-12211.1284,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190509.00,3642.68894,N,12211.12867,W,1,09,1.0,-2.61,M,-33.33,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190509.59,3642.6889,N,-12211.1288,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190510.00,3642.68861,N,12211.12918,W,1,09,1.0,-2.81,M,-33.33,M,,*71 : NMEA Update: $GPGGA,190510.59,3642.6886,N,-12211.1293,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190511.00,3642.68831,N,12211.12990,W,1,09,1.0,-3.29,M,-33.33,M,,*76 : NMEA Update: $GPGGA,190511.59,3642.6883,N,-12211.1301,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190512.00,3642.68805,N,12211.13065,W,1,09,1.0,-3.26,M,-33.33,M,,*7F : NMEA Update: $GPGGA,190512.59,3642.6880,N,-12211.1308,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190513.00,3642.68784,N,12211.13128,W,1,09,1.0,-3.19,M,-33.33,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190513.59,3642.6878,N,-12211.1314,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,190514.00,3642.68769,N,12211.13191,W,1,09,1.0,-3.21,M,-33.33,M,,*71 : NMEA Update: $GPGGA,190514.59,3642.6877,N,-12211.1320,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190515.00,3642.68754,N,12211.13258,W,1,09,1.0,-3.42,M,-33.33,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl::execute() -- (t = 33.997671) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 33.997671) Behavior descend:-1 has changed to state Active : NMEA Update: $GPGGA,190515.59,3642.6875,N,-12211.1327,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190516.00,3642.68755,N,12211.13328,W,1,09,1.0,-3.23,M,-33.33,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190516.59,3642.6876,N,-12211.1334,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190517.00,3642.68756,N,12211.13402,W,1,09,1.0,-3.17,M,-33.33,M,,*74 : NMEA Update: $GPGGA,190517.59,3642.6876,N,-12211.1342,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : AshtechGps::processRecord() - $GPGGA,190518.00,3642.68758,N,12211.13477,W,1,09,1.0,-3.10,M,-33.33,M,,*70 : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : vehicleCfgName = mappingAUV_specs.cfg : dvlFileName = rdiDVL_specs.cfg : resonCfgName = resonSeabat8101_specs.cfg : samplePeriod = 10000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : NMEA Update: $GPGGA,190518.59,3642.6876,N,-12211.1349,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : Reson configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/resonSeabat8101_specs.cfg : Map file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/SoquelCanyonMAUVUTMTopo_NoNan.grd : PeriodicTask::run() (terrainAidDriver) - sampleInterval=10000, maxInterval=10000 : 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,190519.00,3642.68750,N,12211.13544,W,1,09,1.0,-2.68,M,-33.33,M,,*76 : NMEA Update: $GPGGA,190519.59,3642.6875,N,-12211.1356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190520.00,3642.68737,N,12211.13606,W,1,09,1.0,-2.32,M,-33.33,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190520.58,3642.6874,N,-12211.1362,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190521.00,3642.68720,N,12211.13665,W,1,09,1.0,-2.73,M,-33.33,M,,*70 : NMEA Update: $GPGGA,190521.58,3642.6872,N,-12211.1368,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190522.00,3642.68718,N,12211.13737,W,1,09,1.0,-3.14,M,-33.33,M,,*7E : NMEA Update: $GPGGA,190522.58,3642.6872,N,-12211.1375,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190523.00,3642.68712,N,12211.13809,W,1,09,1.0,-3.19,M,-33.33,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190523.58,3642.6871,N,-12211.1382,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,190524.00,3642.68714,N,12211.13863,W,1,09,1.0,-3.09,M,-33.33,M,,*76 : NMEA Update: $GPGGA,190524.58,3642.6871,N,-12211.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190525.00,,,,,0,03,320.0,,M,,M,,*6E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190525.58,3642.6871,N,-12211.1390,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190526.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190526.58,3642.6871,N,-12211.1397,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190527.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190527.58,3642.6871,N,-12211.1403,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190528.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190528.58,3642.6869,N,-12211.1407,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainAidDriver:: _navTime0 = 1246388728.58 : TerrainAidDriver:: _dvlTime0 = 68727.13 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4063172.13, 572728.61) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : 50.00 : Estimated East Bias at time = 0.00 : 50.00 : Estimated Depth Bias at time = 0.00 : 0.00 : Estimated northing and easting = 4063222.13 : 572778.61 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190529.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190529.58,3642.6868,N,-12211.1413,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190530.00,,,,,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,190530.58,3642.6868,N,-12211.1420,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190531.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190531.58,3642.6867,N,-12211.1427,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190532.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190532.58,3642.6867,N,-12211.1434,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190533.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190533.58,3642.6867,N,-12211.1440,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190534.00,,,,,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,190534.58,3642.6866,N,-12211.1448,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : Descend::execute() - Descend terminating on depth 5.134720 > 5.000000 at time 53.196356 : LayeredControl::execute() -- (t = 53.196356) Behavior descend:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 53.196356) Behavior acousticUpdate:-1 has changed to state Finished : LayeredControl::execute() -- (t = 53.196356) Behavior descend:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,190535.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190535.58,3642.6866,N,-12211.1454,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190536.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190536.58,3642.6864,N,-12211.1461,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190537.00,,,,,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,190537.58,3642.6862,N,-12211.1467,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190538.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190538.58,3642.6860,N,-12211.1473,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 9.999315 : TerrainNav update at dvl time = 9.999315 : _navData-> (x,y) = (4063170.29, 572718.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,190539.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 10.00 : 48.00 : Estimated East Bias at time = 10.00 : 48.00 : Estimated Depth Bias at time = 10.00 : 0.00 : Estimated northing and easting = 4063218.29 : 572766.65 : NMEA Update: $GPGGA,190539.58,3642.6857,N,-12211.1480,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190540.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190540.58,3642.6854,N,-12211.1485,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190541.00,,,,,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,190541.58,3642.6851,N,-12211.1491,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,190542.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190542.58,3642.6847,N,-12211.1497,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190543.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190543.58,3642.6844,N,-12211.1502,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190544.00,,,,,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,190544.58,3642.6840,N,-12211.1507,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190545.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190545.58,3642.6835,N,-12211.1512,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190546.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190546.58,3642.6829,N,-12211.1516,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190547.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190547.58,3642.6824,N,-12211.1517,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190548.00,,,,,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,190548.58,3642.6818,N,-12211.1517,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 19.998630 : TerrainNav update at dvl time = 19.998630 : _navData-> (x,y) = (4063162.42, 572712.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,190549.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 20.00 : 46.00 : Estimated East Bias at time = 20.00 : 46.00 : Estimated Depth Bias at time = 20.00 : 0.00 : Estimated northing and easting = 4063208.42 : 572758.36 : NMEA Update: $GPGGA,190549.58,3642.6812,N,-12211.1517,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190550.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190550.58,3642.6807,N,-12211.1517,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190551.00,,,,,0,00,,,M,,M,,*41 : 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,190551.58,3642.6802,N,-12211.1515,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190552.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190552.58,3642.6797,N,-12211.1513,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190553.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190553.58,3642.6793,N,-12211.1510,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190554.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190554.58,3642.6788,N,-12211.1506,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190555.00,,,,,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,190555.58,3642.6784,N,-12211.1502,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190556.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190556.58,3642.6781,N,-12211.1497,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190557.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190557.58,3642.6779,N,-12211.1491,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190558.00,,,,,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,190558.58,3642.6777,N,-12211.1485,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4063154.96, 572717.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,190559.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 30.00 : 45.00 : Estimated East Bias at time = 30.00 : 45.00 : Estimated Depth Bias at time = 30.00 : 0.00 : Estimated northing and easting = 4063199.96 : 572762.44 : NMEA Update: $GPGGA,190559.58,3642.6776,N,-12211.1478,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190600.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190600.58,3642.6775,N,-12211.1471,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190601.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190601.58,3642.6776,N,-12211.1464,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190602.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190602.58,3642.6777,N,-12211.1457,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,190603.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190603.58,3642.6780,N,-12211.1450,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190604.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190604.58,3642.6783,N,-12211.1445,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190605.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190605.58,3642.6787,N,-12211.1440,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190606.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190606.58,3642.6791,N,-12211.1435,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190607.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190607.58,3642.6795,N,-12211.1431,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190608.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190608.58,3642.6800,N,-12211.1427,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 39.997260 : TerrainNav update at dvl time = 39.997260 : _navData-> (x,y) = (4063159.50, 572725.90) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190609.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 40.00 : 43.00 : Estimated East Bias at time = 40.00 : 43.00 : Estimated Depth Bias at time = 40.00 : 0.00 : Estimated northing and easting = 4063202.50 : 572768.90 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190609.58,3642.6804,N,-12211.1423,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190610.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190610.58,3642.6809,N,-12211.1420,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190611.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190611.58,3642.6814,N,-12211.1418,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190612.00,,,,,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,190612.58,3642.6819,N,-12211.1417,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190613.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190613.58,3642.6824,N,-12211.1418,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190614.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190614.58,3642.6830,N,-12211.1419,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190615.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190615.58,3642.6835,N,-12211.1421,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190616.00,,,,,0,00,,,M,,M,,*41 : 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,190616.58,3642.6840,N,-12211.1424,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190617.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190617.58,3642.6844,N,-12211.1427,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190618.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190618.58,3642.6848,N,-12211.1429,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainNav update at nav time = 49.996575 : TerrainNav update at dvl time = 49.996575 : _navData-> (x,y) = (4063168.44, 572725.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,190619.00,,,,,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 : Estimated North Bias at time = 50.00 : 42.00 : Estimated East Bias at time = 50.00 : 42.00 : Estimated Depth Bias at time = 50.00 : 0.00 : Estimated northing and easting = 4063210.44 : 572767.32 : NMEA Update: $GPGGA,190619.58,3642.6852,N,-12211.1433,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190620.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190620.58,3642.6855,N,-12211.1437,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190621.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190621.58,3642.6857,N,-12211.1442,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190622.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190622.58,3642.6860,N,-12211.1447,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190623.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190623.58,3642.6862,N,-12211.1453,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190624.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190624.58,3642.6864,N,-12211.1459,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190625.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190625.58,3642.6865,N,-12211.1466,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190626.00,,,,,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,190626.58,3642.6865,N,-12211.1472,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190627.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190627.58,3642.6864,N,-12211.1478,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190628.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190628.58,3642.6863,N,-12211.1485,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4063170.86, 572716.98) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190629.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 60.00 : 41.00 : Estimated East Bias at time = 60.00 : 41.00 : Estimated Depth Bias at time = 60.00 : 0.00 : Estimated northing and easting = 4063211.86 : 572757.98 : NMEA Update: $GPGGA,190629.58,3642.6861,N,-12211.1491,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190630.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190630.58,3642.6859,N,-12211.1496,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190631.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190631.58,3642.6856,N,-12211.1502,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190632.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190632.58,3642.6852,N,-12211.1506,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190633.00,,,,,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,190633.58,3642.6848,N,-12211.1511,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190634.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190634.58,3642.6843,N,-12211.1515,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190635.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190635.58,3642.6839,N,-12211.1518,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190636.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190636.58,3642.6834,N,-12211.1521,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190637.00,,,,,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,190637.58,3642.6828,N,-12211.1523,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190638.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190638.58,3642.6823,N,-12211.1524,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 69.995205 : TerrainNav update at dvl time = 69.995205 : _navData-> (x,y) = (4063163.28, 572711.41) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190639.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 70.00 : 40.00 : Estimated East Bias at time = 70.00 : 40.00 : Estimated Depth Bias at time = 70.00 : 0.00 : Estimated northing and easting = 4063203.28 : 572751.41 : NMEA Update: $GPGGA,190639.58,3642.6817,N,-12211.1524,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190640.00,,,,,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,190640.58,3642.6812,N,-12211.1522,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190641.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190641.58,3642.6807,N,-12211.1520,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190642.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190642.58,3642.6802,N,-12211.1517,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190643.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190643.58,3642.6797,N,-12211.1514,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190644.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190644.39,3642.6794,N,-12211.1511,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : 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,190645.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190645.39,3642.6791,N,-12211.1506,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190646.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190646.39,3642.6788,N,-12211.1501,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,190647.00,,,,,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,190647.39,3642.6786,N,-12211.1495,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,190648.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190648.39,3642.6785,N,-12211.1489,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 79.994520 : TerrainNav update at dvl time = 79.994520 : _navData-> (x,y) = (4063156.42, 572717.03) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 79.99 : 39.00 : Estimated East Bias at time = 79.99 : 39.00 : Estimated Depth Bias at time = 79.99 : 0.00 : Estimated northing and easting = 4063195.42 : 572756.03 : AshtechGps::processRecord() - $GPGGA,190649.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190649.39,3642.6784,N,-12211.1483,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190650.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190650.39,3642.6784,N,-12211.1476,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190651.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190651.39,3642.6785,N,-12211.1470,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : 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,190652.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190652.39,3642.6787,N,-12211.1464,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190653.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190653.39,3642.6789,N,-12211.1458,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190654.00,,,,,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,190654.39,3642.6792,N,-12211.1452,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190655.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190655.39,3642.6796,N,-12211.1447,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190656.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190656.39,3642.6800,N,-12211.1442,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190657.00,,,,,0,00,,,M,,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190657.39,3642.6804,N,-12211.1438,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,190658.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190658.39,3642.6809,N,-12211.1436,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4063161.44, 572724.66) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 89.99 : 38.00 : Estimated East Bias at time = 89.99 : 38.00 : Estimated Depth Bias at time = 89.99 : 0.00 : Estimated northing and easting = 4063199.44 : 572762.66 : AshtechGps::processRecord() - $GPGGA,190659.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190659.39,3642.6814,N,-12211.1434,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190700.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190700.39,3642.6820,N,-12211.1432,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190701.00,,,,,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,190701.39,3642.6825,N,-12211.1431,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190702.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190702.39,3642.6830,N,-12211.1431,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190703.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190703.39,3642.6835,N,-12211.1432,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190704.00,,,,,0,00,,,M,,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190704.39,3642.6840,N,-12211.1433,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190705.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190705.39,3642.6845,N,-12211.1436,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : 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,190706.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190706.39,3642.6850,N,-12211.1439,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190707.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190707.39,3642.6855,N,-12211.1442,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190708.00,,,,,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,190708.39,3642.6859,N,-12211.1447,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 100.003149 : TerrainNav update at dvl time = 100.003149 : _navData-> (x,y) = (4063170.51, 572722.57) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 100.00 : 38.00 : Estimated East Bias at time = 100.00 : 38.00 : Estimated Depth Bias at time = 100.00 : 0.00 : Estimated northing and easting = 4063208.51 : 572760.57 : AshtechGps::processRecord() - $GPGGA,190709.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190709.39,3642.6862,N,-12211.1451,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190710.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190710.39,3642.6865,N,-12211.1457,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190711.00,,,,,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,190711.39,3642.6868,N,-12211.1463,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,190712.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190712.39,3642.6869,N,-12211.1469,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190713.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190713.39,3642.6871,N,-12211.1476,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190714.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190714.39,3642.6871,N,-12211.1482,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,190715.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190715.39,3642.6871,N,-12211.1489,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190716.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190716.39,3642.6871,N,-12211.1496,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : 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,190717.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190717.39,3642.6870,N,-12211.1502,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190718.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190718.39,3642.6868,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 110.002464 : TerrainNav update at dvl time = 110.002464 : _navData-> (x,y) = (4063171.56, 572713.23) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 110.00 : 38.00 : Estimated East Bias at time = 110.00 : 38.00 : Estimated Depth Bias at time = 110.00 : 0.00 : Estimated northing and easting = 4063209.56 : 572751.23 : AshtechGps::processRecord() - $GPGGA,190719.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190719.39,3642.6865,N,-12211.1514,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190720.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190720.39,3642.6861,N,-12211.1520,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190721.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190721.39,3642.6858,N,-12211.1525,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,190722.00,,,,,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,190722.39,3642.6853,N,-12211.1529,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,190723.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190723.39,3642.6849,N,-12211.1533,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : 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,190724.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190724.39,3642.6844,N,-12211.1536,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190725.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190725.39,3642.6839,N,-12211.1538,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190726.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190726.39,3642.6833,N,-12211.1539,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190727.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190727.39,3642.6828,N,-12211.1539,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190728.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190728.39,3642.6822,N,-12211.1538,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4063162.97, 572709.37) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 120.00 : 37.00 : Estimated East Bias at time = 120.00 : 37.00 : Estimated Depth Bias at time = 120.00 : 0.00 : Estimated northing and easting = 4063199.97 : 572746.37 : AshtechGps::processRecord() - $GPGGA,190729.00,,,,,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,190729.39,3642.6817,N,-12211.1536,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,190730.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190730.39,3642.6812,N,-12211.1533,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : 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,190731.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190731.39,3642.6808,N,-12211.1529,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190732.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190732.39,3642.6804,N,-12211.1525,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190733.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190733.39,3642.6800,N,-12211.1520,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190734.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190734.39,3642.6797,N,-12211.1515,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190735.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190735.39,3642.6795,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190736.00,,,,,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,190736.39,3642.6794,N,-12211.1503,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190737.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190737.39,3642.6793,N,-12211.1496,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190738.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190738.39,3642.6793,N,-12211.1490,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 130.001094 : TerrainNav update at dvl time = 130.001094 : _navData-> (x,y) = (4063158.11, 572716.81) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 130.00 : 37.00 : Estimated East Bias at time = 130.00 : 36.00 : Estimated Depth Bias at time = 130.00 : 0.00 : Estimated northing and easting = 4063195.11 : 572752.81 : AshtechGps::processRecord() - $GPGGA,190739.00,,,,,0,00,,,M,,M,,*4D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190739.39,3642.6794,N,-12211.1484,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190740.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190740.39,3642.6796,N,-12211.1478,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190741.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190741.39,3642.6798,N,-12211.1471,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190742.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190742.39,3642.6801,N,-12211.1466,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190743.00,,,,,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,190743.39,3642.6804,N,-12211.1460,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190744.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190744.39,3642.6808,N,-12211.1456,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190745.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190745.39,3642.6813,N,-12211.1451,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190746.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190746.38,3642.6817,N,-12211.1448,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,190747.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190747.38,3642.6822,N,-12211.1445,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190748.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190748.38,3642.6827,N,-12211.1443,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 140.000409 : TerrainNav update at dvl time = 140.000409 : _navData-> (x,y) = (4063164.72, 572723.53) : _tercom->outstandingMeas() = 0 : 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,190749.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190749.38,3642.6832,N,-12211.1442,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : Estimated North Bias at time = 140.00 : 36.00 : Estimated East Bias at time = 140.00 : 35.00 : Estimated Depth Bias at time = 140.00 : 0.00 : Estimated northing and easting = 4063200.72 : 572758.53 : AshtechGps::processRecord() - $GPGGA,190750.00,,,,,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,190750.38,3642.6838,N,-12211.1441,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190751.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190751.38,3642.6843,N,-12211.1441,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190752.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190752.38,3642.6848,N,-12211.1442,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190753.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190753.38,3642.6853,N,-12211.1443,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190754.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190754.38,3642.6858,N,-12211.1446,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190755.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190755.38,3642.6863,N,-12211.1448,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190756.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190756.38,3642.6867,N,-12211.1452,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190757.00,,,,,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,190757.38,3642.6871,N,-12211.1456,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190758.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190758.38,3642.6874,N,-12211.1460,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4063173.24, 572720.49) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 150.00 : 36.00 : AshtechGps::processRecord() - $GPGGA,190759.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 150.00 : 35.00 : Estimated Depth Bias at time = 150.00 : 0.00 : Estimated northing and easting = 4063209.24 : 572755.49 : NMEA Update: $GPGGA,190759.38,3642.6877,N,-12211.1465,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190800.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190800.38,3642.6879,N,-12211.1470,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190801.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190801.38,3642.6881,N,-12211.1476,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190802.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190802.38,3642.6882,N,-12211.1482,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190803.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190803.38,3642.6883,N,-12211.1488,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190804.00,,,,,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,190804.38,3642.6883,N,-12211.1494,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,190805.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190805.38,3642.6882,N,-12211.1500,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190806.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190806.38,3642.6880,N,-12211.1506,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190807.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190807.38,3642.6878,N,-12211.1512,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190808.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190808.38,3642.6876,N,-12211.1517,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 159.999039 : TerrainNav update at dvl time = 159.999039 : _navData-> (x,y) = (4063173.00, 572712.02) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 160.00 : 36.00 : Estimated East Bias at time = 160.00 : 35.00 : Estimated Depth Bias at time = 160.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,190809.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063209.00 : 572747.02 : NMEA Update: $GPGGA,190809.38,3642.6873,N,-12211.1522,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190810.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190810.38,3642.6869,N,-12211.1527,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190811.00,,,,,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,190811.38,3642.6865,N,-12211.1532,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190812.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190812.38,3642.6860,N,-12211.1535,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190813.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190813.38,3642.6855,N,-12211.1538,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190814.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190814.38,3642.6850,N,-12211.1541,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190815.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190815.38,3642.6845,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190816.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190816.38,3642.6839,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190817.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190817.38,3642.6834,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190818.00,,,,,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,190818.38,3642.6828,N,-12211.1541,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 169.998354 : TerrainNav update at dvl time = 169.998354 : _navData-> (x,y) = (4063164.05, 572708.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,190819.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190819.38,3642.6823,N,-12211.1538,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : Estimated North Bias at time = 170.00 : 35.00 : Estimated East Bias at time = 170.00 : 35.00 : Estimated Depth Bias at time = 170.00 : 0.00 : Estimated northing and easting = 4063199.05 : 572743.98 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190820.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190820.38,3642.6818,N,-12211.1535,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190821.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190821.38,3642.6813,N,-12211.1531,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,190822.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190822.38,3642.6810,N,-12211.1526,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190823.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190823.38,3642.6806,N,-12211.1521,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190824.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190824.38,3642.6804,N,-12211.1515,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190825.00,,,,,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,190825.38,3642.6802,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190826.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190826.38,3642.6801,N,-12211.1503,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190827.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190827.38,3642.6801,N,-12211.1496,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190828.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190828.38,3642.6802,N,-12211.1490,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4063159.66, 572716.84) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 180.00 : 35.00 : Estimated East Bias at time = 180.00 : 35.00 : Estimated Depth Bias at time = 180.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,190829.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063194.66 : 572751.84 : NMEA Update: $GPGGA,190829.38,3642.6803,N,-12211.1484,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190830.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190830.38,3642.6805,N,-12211.1478,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190831.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190831.38,3642.6807,N,-12211.1473,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190832.00,,,,,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,190832.38,3642.6811,N,-12211.1468,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190833.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190833.38,3642.6815,N,-12211.1463,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190834.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190834.38,3642.6819,N,-12211.1460,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190835.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190835.38,3642.6824,N,-12211.1457,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190836.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190836.38,3642.6829,N,-12211.1454,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190837.19,3642.6833,N,-12211.1453,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,190837.00,,,,,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,190838.18,3642.6838,N,-12211.1452,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,190838.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 189.996984 : TerrainNav update at dvl time = 189.996984 : _navData-> (x,y) = (4063166.99, 572722.16) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190839.18,3642.6844,N,-12211.1451,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190839.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 190.00 : 35.00 : Estimated East Bias at time = 190.00 : 35.00 : Estimated Depth Bias at time = 190.00 : 0.00 : Estimated northing and easting = 4063201.99 : 572757.16 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190840.18,3642.6849,N,-12211.1451,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190840.00,,,,,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,190841.18,3642.6854,N,-12211.1453,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190841.00,,,,,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,190842.18,3642.6859,N,-12211.1454,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190842.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : stat is 92230 : got a SAN packet : time:68964.492188 : lat:36.7116 lon:-122.1860 : slant range: 1.00 : SNR:16.799999 AGC:35 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71159 lon -122.18601 : NMEA Update: $GPGGA,190843.18,3642.6953,N,-12211.1608,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190843.00,,,,,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,190844.18,3642.6957,N,-12211.1611,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190844.00,,,,,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,190845.18,3642.6962,N,-12211.1614,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,190845.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190846.18,3642.6966,N,-12211.1619,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190846.00,,,,,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,190847.18,3642.6969,N,-12211.1623,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190847.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190848.18,3642.6973,N,-12211.1629,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,190848.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 199.996299 : TerrainNav update at dvl time = 199.996299 : _navData-> (x,y) = (4063191.34, 572695.07) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190849.18,3642.6975,N,-12211.1634,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190849.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190850.18,3642.6977,N,-12211.1640,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190850.00,,,,,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,190851.18,3642.6978,N,-12211.1646,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190851.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 200.00 : 33.00 : Estimated East Bias at time = 200.00 : 33.00 : Estimated Depth Bias at time = 200.00 : 0.00 : Estimated northing and easting = 4063224.34 : 572728.07 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190852.18,3642.6979,N,-12211.1653,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190852.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190853.18,3642.6979,N,-12211.1659,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,190853.00,,,,,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,190854.18,3642.6978,N,-12211.1665,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190854.00,,,,,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,190855.18,3642.6977,N,-12211.1671,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,190855.00,,,,,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,190856.18,3642.6976,N,-12211.1677,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190856.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190857.18,3642.6973,N,-12211.1682,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190857.00,,,,,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,190858.18,3642.6970,N,-12211.1688,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190858.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 209.995614 : TerrainNav update at dvl time = 209.995614 : _navData-> (x,y) = (4063190.05, 572686.32) : _tercom->outstandingMeas() = 0 : 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,190859.18,3642.6966,N,-12211.1692,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,190859.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 210.00 : 33.00 : Estimated East Bias at time = 210.00 : 33.00 : Estimated Depth Bias at time = 210.00 : 0.00 : Estimated northing and easting = 4063223.05 : 572719.32 : NMEA Update: $GPGGA,190900.18,3642.6962,N,-12211.1697,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190900.00,,,,,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,190901.18,3642.6958,N,-12211.1700,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190901.00,,,,,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,190902.18,3642.6953,N,-12211.1703,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,190902.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190903.18,3642.6948,N,-12211.1705,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190903.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190904.18,3642.6942,N,-12211.1707,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190904.00,,,,,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,190905.18,3642.6937,N,-12211.1707,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,190905.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190906.18,3642.6931,N,-12211.1706,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190906.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190907.18,3642.6926,N,-12211.1705,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,190907.00,,,,,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,190908.18,3642.6920,N,-12211.1703,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190908.00,,,,,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 : TerrainNav update at nav time = 219.994929 : TerrainNav update at dvl time = 219.994929 : _navData-> (x,y) = (4063180.72, 572684.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,190909.18,3642.6916,N,-12211.1700,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190909.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 219.99 : 32.00 : Estimated East Bias at time = 219.99 : 33.00 : Estimated Depth Bias at time = 219.99 : 0.00 : Estimated northing and easting = 4063212.72 : 572717.89 : 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,190910.18,3642.6911,N,-12211.1696,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190910.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190910.99,3642.6908,N,-12211.1692,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190911.00,,,,,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,190911.99,3642.6905,N,-12211.1687,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190912.00,,,,,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,190912.99,3642.6902,N,-12211.1681,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,190913.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190913.99,3642.6900,N,-12211.1675,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190914.00,,,,,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,190914.99,3642.6899,N,-12211.1669,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,190915.00,,,,,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,190915.99,3642.6898,N,-12211.1663,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190916.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190916.99,3642.6899,N,-12211.1657,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190917.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190917.99,3642.6900,N,-12211.1651,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,190918.00,,,,,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 : TerrainNav update at nav time = 229.994244 : TerrainNav update at dvl time = 229.994244 : _navData-> (x,y) = (4063177.82, 572692.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,190918.99,3642.6902,N,-12211.1646,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190919.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 229.99 : 33.00 : Estimated East Bias at time = 229.99 : 33.00 : Estimated Depth Bias at time = 229.99 : 0.00 : Estimated northing and easting = 4063210.82 : 572725.97 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190919.99,3642.6904,N,-12211.1640,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,190920.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190920.99,3642.6907,N,-12211.1635,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190921.00,,,,,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,190921.99,3642.6911,N,-12211.1631,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190922.00,,,,,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,190922.99,3642.6915,N,-12211.1627,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190923.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190923.99,3642.6919,N,-12211.1624,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,190924.00,,,,,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,190924.99,3642.6923,N,-12211.1622,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190925.00,,,,,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,190925.99,3642.6928,N,-12211.1620,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,190926.00,,,,,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,190926.99,3642.6933,N,-12211.1620,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190927.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190927.99,3642.6938,N,-12211.1619,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,190928.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4063185.39, 572697.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,190928.99,3642.6943,N,-12211.1619,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190929.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 239.99 : 33.00 : Estimated East Bias at time = 239.99 : 33.00 : Estimated Depth Bias at time = 239.99 : 0.00 : Estimated northing and easting = 4063218.39 : 572730.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190929.99,3642.6948,N,-12211.1620,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190930.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190930.99,3642.6953,N,-12211.1622,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190931.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190931.99,3642.6958,N,-12211.1624,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190932.00,,,,,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,190932.99,3642.6963,N,-12211.1627,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190933.00,,,,,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,190933.99,3642.6968,N,-12211.1631,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,190934.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190934.99,3642.6972,N,-12211.1635,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190935.00,,,,,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,190935.99,3642.6976,N,-12211.1639,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,190936.00,,,,,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,190936.99,3642.6979,N,-12211.1645,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190937.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190937.99,3642.6982,N,-12211.1650,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190938.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 250.002874 : TerrainNav update at dvl time = 250.002874 : _navData-> (x,y) = (4063193.02, 572691.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,190938.99,3642.6984,N,-12211.1656,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190939.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 250.00 : 33.00 : Estimated East Bias at time = 250.00 : 33.00 : Estimated Depth Bias at time = 250.00 : 0.00 : Estimated northing and easting = 4063226.02 : 572724.65 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,190939.99,3642.6985,N,-12211.1662,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,190940.00,,,,,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,190940.99,3642.6986,N,-12211.1668,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190941.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190941.99,3642.6986,N,-12211.1675,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190942.00,,,,,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,190942.99,3642.6986,N,-12211.1681,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190943.00,,,,,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,190943.99,3642.6984,N,-12211.1687,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190944.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190944.99,3642.6983,N,-12211.1693,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190945.00,,,,,0,00,,,M,,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190945.99,3642.6980,N,-12211.1699,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190946.00,,,,,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,190946.99,3642.6977,N,-12211.1704,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190947.00,,,,,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,190947.99,3642.6974,N,-12211.1708,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190948.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 260.002189 : TerrainNav update at dvl time = 260.002189 : _navData-> (x,y) = (4063190.50, 572683.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,190948.99,3642.6970,N,-12211.1712,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,190949.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 260.00 : 33.00 : Estimated East Bias at time = 260.00 : 33.00 : Estimated Depth Bias at time = 260.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated northing and easting = 4063223.50 : 572716.18 : NMEA Update: $GPGGA,190949.99,3642.6965,N,-12211.1716,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,190950.00,,,,,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,190950.99,3642.6960,N,-12211.1719,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,190951.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,190951.99,3642.6956,N,-12211.1720,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,190952.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190952.99,3642.6950,N,-12211.1721,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,190953.00,,,,,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,190953.99,3642.6945,N,-12211.1721,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190954.00,,,,,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,190954.99,3642.6940,N,-12211.1721,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190955.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190955.99,3642.6935,N,-12211.1720,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,190956.00,,,,,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,190956.99,3642.6930,N,-12211.1717,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,190957.00,,,,,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,190957.99,3642.6925,N,-12211.1714,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,190958.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4063181.60, 572683.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,190958.99,3642.6921,N,-12211.1710,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated North Bias at time = 270.00 : 33.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,190959.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 270.00 : 33.00 : Estimated Depth Bias at time = 270.00 : 0.00 : Estimated northing and easting = 4063214.60 : 572716.41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,190959.99,3642.6918,N,-12211.1705,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191000.00,,,,,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,191000.99,3642.6915,N,-12211.1700,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191001.00,,,,,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,191001.99,3642.6912,N,-12211.1694,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191002.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191002.99,3642.6911,N,-12211.1688,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191003.00,,,,,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,191003.99,3642.6910,N,-12211.1681,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191004.00,,,,,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,191004.99,3642.6909,N,-12211.1675,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191005.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191005.99,3642.6910,N,-12211.1668,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191006.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191006.99,3642.6911,N,-12211.1662,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191007.00,,,,,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,191007.99,3642.6913,N,-12211.1656,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191008.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 280.000819 : TerrainNav update at dvl time = 280.000819 : _navData-> (x,y) = (4063180.30, 572692.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191008.99,3642.6915,N,-12211.1650,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : Estimated North Bias at time = 280.00 : 33.00 : Estimated East Bias at time = 280.00 : 33.00 : Estimated Depth Bias at time = 280.00 : 0.00 : Estimated northing and easting = 4063213.30 : 572725.22 : AshtechGps::processRecord() - $GPGGA,191009.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191009.99,3642.6918,N,-12211.1645,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191010.00,,,,,0,00,,,M,,M,,*40 : 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,191010.99,3642.6922,N,-12211.1640,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191011.00,,,,,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,191011.99,3642.6926,N,-12211.1636,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191012.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191012.98,3642.6931,N,-12211.1632,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191013.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191013.98,3642.6936,N,-12211.1629,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191014.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191014.98,3642.6941,N,-12211.1627,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191015.00,,,,,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,191015.98,3642.6946,N,-12211.1626,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191016.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191016.98,3642.6951,N,-12211.1625,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191017.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191017.98,3642.6957,N,-12211.1625,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191018.00,,,,,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 : TerrainNav update at nav time = 290.000134 : TerrainNav update at dvl time = 290.000134 : _navData-> (x,y) = (4063188.92, 572696.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,191018.98,3642.6962,N,-12211.1626,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191019.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 290.00 : 33.00 : Estimated East Bias at time = 290.00 : 33.00 : Estimated Depth Bias at time = 290.00 : 0.00 : Estimated northing and easting = 4063221.92 : 572729.01 : NMEA Update: $GPGGA,191019.98,3642.6967,N,-12211.1627,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191020.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191020.98,3642.6972,N,-12211.1629,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191021.00,,,,,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,191021.98,3642.6977,N,-12211.1632,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191022.00,,,,,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,191022.98,3642.6981,N,-12211.1635,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191023.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191023.98,3642.6985,N,-12211.1639,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191024.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191024.98,3642.6989,N,-12211.1644,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191025.00,,,,,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,191025.98,3642.6992,N,-12211.1649,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191026.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191026.98,3642.6995,N,-12211.1655,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191027.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191027.98,3642.6997,N,-12211.1661,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191028.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4063195.58, 572689.99) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,191028.98,3642.6998,N,-12211.1667,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191029.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 300.00 : 33.00 : Estimated East Bias at time = 300.00 : 33.00 : Estimated Depth Bias at time = 300.00 : 0.00 : Estimated northing and easting = 4063228.58 : 572722.99 : stat is 92230 : got a SAN packet : time:69071.750000 : lat:36.7114 lon:-122.1859 : slant range: 1.00 : SNR:17.000000 AGC:36 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191029.98,3642.6998,N,-12211.1673,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71143 lon -122.18591 : AshtechGps::processRecord() - $GPGGA,191030.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191030.98,3642.6860,N,-12211.1554,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191031.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191031.98,3642.6860,N,-12211.1560,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191032.00,,,,,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,191032.98,3642.6859,N,-12211.1567,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191033.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191033.98,3642.6857,N,-12211.1572,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191034.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191034.98,3642.6854,N,-12211.1578,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191035.00,,,,,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,191035.98,3642.6851,N,-12211.1583,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191036.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191036.98,3642.6848,N,-12211.1587,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191037.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191037.98,3642.6844,N,-12211.1591,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191038.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 309.998764 : TerrainNav update at dvl time = 309.998764 : _navData-> (x,y) = (4063166.58, 572701.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,191038.98,3642.6839,N,-12211.1594,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191039.00,,,,,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,191039.98,3642.6835,N,-12211.1597,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191040.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191040.98,3642.6830,N,-12211.1599,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191041.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 310.00 : 32.00 : Estimated East Bias at time = 310.00 : 32.00 : Estimated Depth Bias at time = 310.00 : 0.00 : Estimated northing and easting = 4063198.58 : 572733.00 : NMEA Update: $GPGGA,191041.98,3642.6824,N,-12211.1600,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191042.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191042.98,3642.6819,N,-12211.1600,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191043.00,,,,,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,191043.98,3642.6814,N,-12211.1600,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191044.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191044.98,3642.6809,N,-12211.1598,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191045.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191045.98,3642.6804,N,-12211.1596,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191046.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191046.98,3642.6799,N,-12211.1593,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191047.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191047.98,3642.6795,N,-12211.1589,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191048.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 319.998079 : TerrainNav update at dvl time = 319.998079 : _navData-> (x,y) = (4063157.71, 572702.28) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,191048.98,3642.6792,N,-12211.1584,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Estimated North Bias at time = 320.00 : 32.00 : Estimated East Bias at time = 320.00 : 32.00 : AshtechGps::processRecord() - $GPGGA,191049.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 320.00 : 0.00 : Estimated northing and easting = 4063189.71 : 572734.28 : 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,191049.98,3642.6789,N,-12211.1579,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191050.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191050.98,3642.6786,N,-12211.1574,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191051.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191051.98,3642.6785,N,-12211.1568,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191052.00,,,,,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,191052.98,3642.6783,N,-12211.1561,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191053.00,,,,,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,191053.98,3642.6783,N,-12211.1555,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191054.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191054.98,3642.6783,N,-12211.1549,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191055.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191055.98,3642.6785,N,-12211.1543,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191056.00,,,,,0,00,,,M,,M,,*42 : 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,191056.98,3642.6787,N,-12211.1537,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191057.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191057.98,3642.6789,N,-12211.1531,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191058.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4063157.68, 572710.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,191058.98,3642.6792,N,-12211.1526,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191059.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 330.00 : 32.00 : Estimated East Bias at time = 330.00 : 32.00 : Estimated Depth Bias at time = 330.00 : 0.00 : Estimated northing and easting = 4063189.68 : 572742.98 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191059.98,3642.6796,N,-12211.1521,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191100.00,,,,,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,191100.98,3642.6800,N,-12211.1517,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191101.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191101.98,3642.6804,N,-12211.1513,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191102.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191102.98,3642.6809,N,-12211.1511,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191103.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191103.98,3642.6814,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191104.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191104.98,3642.6819,N,-12211.1508,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191105.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191105.98,3642.6824,N,-12211.1507,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191106.00,,,,,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,191106.98,3642.6829,N,-12211.1508,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191107.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191107.98,3642.6834,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191108.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 339.996709 : TerrainNav update at dvl time = 339.996709 : _navData-> (x,y) = (4063166.34, 572713.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,191108.98,3642.6839,N,-12211.1510,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : Estimated North Bias at time = 340.00 : 32.00 : Estimated East Bias at time = 340.00 : 32.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191109.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 340.00 : 0.00 : Estimated northing and easting = 4063198.34 : 572745.44 : NMEA Update: $GPGGA,191109.98,3642.6844,N,-12211.1513,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191110.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191110.98,3642.6849,N,-12211.1516,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191111.00,,,,,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,191111.98,3642.6853,N,-12211.1520,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191112.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191112.98,3642.6857,N,-12211.1524,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191113.00,,,,,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,191113.98,3642.6860,N,-12211.1528,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191114.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191114.98,3642.6863,N,-12211.1534,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191115.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191115.98,3642.6866,N,-12211.1540,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191116.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191116.98,3642.6868,N,-12211.1546,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191117.00,,,,,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,191117.98,3642.6870,N,-12211.1552,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191118.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 349.996024 : TerrainNav update at dvl time = 349.996024 : _navData-> (x,y) = (4063172.20, 572706.29) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191118.98,3642.6870,N,-12211.1559,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191119.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 350.00 : 33.00 : Estimated East Bias at time = 350.00 : 32.00 : Estimated Depth Bias at time = 350.00 : 0.00 : Estimated northing and easting = 4063205.20 : 572738.29 : NMEA Update: $GPGGA,191119.98,3642.6871,N,-12211.1566,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191120.00,,,,,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,191120.98,3642.6870,N,-12211.1572,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191121.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191121.98,3642.6869,N,-12211.1578,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191122.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191122.98,3642.6867,N,-12211.1585,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191123.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191123.98,3642.6864,N,-12211.1590,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191124.00,,,,,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,191124.98,3642.6861,N,-12211.1596,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191125.00,,,,,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,191125.98,3642.6857,N,-12211.1600,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191126.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191126.98,3642.6853,N,-12211.1604,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191127.00,,,,,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,191127.98,3642.6848,N,-12211.1608,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191128.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4063167.31, 572698.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,191128.98,3642.6843,N,-12211.1610,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191129.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 360.00 : 32.00 : Estimated East Bias at time = 360.00 : 32.00 : Estimated Depth Bias at time = 360.00 : 0.00 : Estimated northing and easting = 4063199.31 : 572730.57 : NMEA Update: $GPGGA,191129.98,3642.6838,N,-12211.1612,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191130.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191130.98,3642.6833,N,-12211.1613,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191131.00,,,,,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,191131.98,3642.6827,N,-12211.1613,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191132.00,,,,,0,00,,,M,,M,,*41 : 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,191132.98,3642.6822,N,-12211.1612,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191133.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191133.98,3642.6817,N,-12211.1611,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191134.00,,,,,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,191134.98,3642.6812,N,-12211.1608,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191135.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191135.98,3642.6807,N,-12211.1604,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191136.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191136.79,3642.6804,N,-12211.1601,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191137.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191137.79,3642.6800,N,-12211.1596,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191138.00,,,,,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,191138.79,3642.6797,N,-12211.1591,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 369.994654 : TerrainNav update at dvl time = 369.994654 : _navData-> (x,y) = (4063158.61, 572701.45) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 369.99 : 33.00 : Estimated East Bias at time = 369.99 : 32.00 : Estimated Depth Bias at time = 369.99 : 0.00 : Estimated northing and easting = 4063191.61 : 572733.45 : AshtechGps::processRecord() - $GPGGA,191139.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191139.79,3642.6795,N,-12211.1585,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191140.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191140.79,3642.6793,N,-12211.1579,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191141.00,,,,,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,191141.79,3642.6792,N,-12211.1573,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191142.00,,,,,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,191142.79,3642.6792,N,-12211.1566,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191143.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191143.79,3642.6792,N,-12211.1560,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191144.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191144.79,3642.6793,N,-12211.1553,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191145.00,,,,,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,191145.79,3642.6795,N,-12211.1547,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191146.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191146.79,3642.6798,N,-12211.1541,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191147.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191147.79,3642.6801,N,-12211.1536,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191148.00,,,,,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,191148.79,3642.6805,N,-12211.1531,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 379.993969 : TerrainNav update at dvl time = 379.993969 : _navData-> (x,y) = (4063160.07, 572710.30) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 379.99 : 33.00 : Estimated East Bias at time = 379.99 : 33.00 : Estimated Depth Bias at time = 379.99 : 0.00 : Estimated northing and easting = 4063193.07 : 572743.30 : AshtechGps::processRecord() - $GPGGA,191149.00,,,,,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,191149.79,3642.6808,N,-12211.1527,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191150.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191150.79,3642.6813,N,-12211.1524,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191151.00,,,,,0,00,,,M,,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191151.79,3642.6818,N,-12211.1521,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191152.00,,,,,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,191152.79,3642.6823,N,-12211.1520,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191153.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191153.79,3642.6828,N,-12211.1519,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191154.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191154.79,3642.6833,N,-12211.1518,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191155.00,,,,,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,191155.79,3642.6839,N,-12211.1519,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191156.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191156.79,3642.6844,N,-12211.1520,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191157.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191157.79,3642.6849,N,-12211.1522,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191158.00,,,,,0,00,,,M,,M,,*4D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191158.79,3642.6854,N,-12211.1524,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4063169.21, 572711.30) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 389.99 : 32.00 : Estimated East Bias at time = 389.99 : 32.00 : Estimated Depth Bias at time = 389.99 : 0.00 : Estimated northing and easting = 4063201.21 : 572743.30 : AshtechGps::processRecord() - $GPGGA,191159.00,,,,,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,191159.79,3642.6859,N,-12211.1527,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191200.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191200.79,3642.6863,N,-12211.1531,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191201.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191201.79,3642.6867,N,-12211.1535,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191202.00,,,,,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,191202.79,3642.6871,N,-12211.1540,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191203.00,,,,,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,191203.79,3642.6874,N,-12211.1545,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191204.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191204.79,3642.6876,N,-12211.1551,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191205.00,,,,,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,191205.79,3642.6878,N,-12211.1557,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191206.00,,,,,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,191206.79,3642.6880,N,-12211.1563,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191207.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191207.79,3642.6880,N,-12211.1570,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191208.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191208.79,3642.6880,N,-12211.1576,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 400.002598 : TerrainNav update at dvl time = 400.002598 : _navData-> (x,y) = (4063173.97, 572703.59) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 400.00 : 32.00 : Estimated East Bias at time = 400.00 : 33.00 : Estimated Depth Bias at time = 400.00 : 0.00 : Estimated northing and easting = 4063205.97 : 572736.59 : AshtechGps::processRecord() - $GPGGA,191209.00,,,,,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,191209.79,3642.6879,N,-12211.1582,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191210.00,,,,,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,191210.79,3642.6877,N,-12211.1588,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191211.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191211.79,3642.6875,N,-12211.1594,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191212.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191212.79,3642.6872,N,-12211.1599,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191213.00,,,,,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,191213.79,3642.6869,N,-12211.1604,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191214.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191214.79,3642.6865,N,-12211.1608,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191215.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191215.79,3642.6861,N,-12211.1612,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191216.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191216.79,3642.6857,N,-12211.1615,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191217.00,,,,,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,191217.79,3642.6852,N,-12211.1618,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191218.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191218.79,3642.6847,N,-12211.1620,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 410.001913 : TerrainNav update at dvl time = 410.001913 : _navData-> (x,y) = (4063167.85, 572697.07) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 410.00 : 32.00 : Estimated East Bias at time = 410.00 : 33.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191219.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 410.00 : 0.00 : Estimated northing and easting = 4063199.85 : 572730.07 : NMEA Update: $GPGGA,191219.79,3642.6842,N,-12211.1621,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191220.00,,,,,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,191220.79,3642.6837,N,-12211.1621,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191221.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191221.79,3642.6832,N,-12211.1620,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191222.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191222.79,3642.6827,N,-12211.1618,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191223.00,,,,,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,191223.79,3642.6822,N,-12211.1616,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191224.00,,,,,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,191224.79,3642.6817,N,-12211.1612,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191225.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191225.79,3642.6813,N,-12211.1608,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191226.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191226.79,3642.6810,N,-12211.1604,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191227.00,,,,,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,191227.79,3642.6807,N,-12211.1598,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191228.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191228.79,3642.6805,N,-12211.1592,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4063160.01, 572701.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191229.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 420.00 : 32.00 : Estimated East Bias at time = 420.00 : 33.00 : Estimated Depth Bias at time = 420.00 : 0.00 : Estimated northing and easting = 4063192.01 : 572734.22 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191229.79,3642.6803,N,-12211.1586,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191230.00,,,,,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,191230.79,3642.6803,N,-12211.1580,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191231.00,,,,,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,191231.79,3642.6803,N,-12211.1574,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191232.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191232.79,3642.6804,N,-12211.1568,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191233.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191233.79,3642.6805,N,-12211.1562,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191234.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191234.79,3642.6807,N,-12211.1556,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191235.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191235.79,3642.6810,N,-12211.1551,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191236.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191236.79,3642.6813,N,-12211.1546,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191237.00,,,,,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,191237.79,3642.6817,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191238.00,,,,,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,191238.78,3642.6821,N,-12211.1538,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 430.000543 : TerrainNav update at dvl time = 430.000543 : _navData-> (x,y) = (4063163.13, 572709.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191239.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 430.00 : 33.00 : Estimated East Bias at time = 430.00 : 33.00 : Estimated Depth Bias at time = 430.00 : 0.00 : Estimated northing and easting = 4063196.13 : 572742.24 : NMEA Update: $GPGGA,191239.78,3642.6826,N,-12211.1535,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191240.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191240.78,3642.6831,N,-12211.1533,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191241.00,,,,,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,191241.78,3642.6836,N,-12211.1531,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191242.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191242.78,3642.6840,N,-12211.1530,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191243.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191243.78,3642.6846,N,-12211.1529,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191244.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191244.78,3642.6851,N,-12211.1530,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191245.00,,,,,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,191245.78,3642.6856,N,-12211.1531,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191246.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191246.78,3642.6862,N,-12211.1532,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191247.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191247.78,3642.6867,N,-12211.1535,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191248.00,,,,,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,191248.78,3642.6871,N,-12211.1538,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainNav update at nav time = 439.999858 : TerrainNav update at dvl time = 439.999858 : _navData-> (x,y) = (4063172.43, 572709.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191249.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 440.00 : 33.00 : Estimated East Bias at time = 440.00 : 33.00 : Estimated Depth Bias at time = 440.00 : 0.00 : Estimated northing and easting = 4063205.43 : 572742.27 : NMEA Update: $GPGGA,191249.78,3642.6876,N,-12211.1541,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191250.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191250.78,3642.6880,N,-12211.1546,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191251.00,,,,,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,191251.78,3642.6883,N,-12211.1551,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191252.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191252.78,3642.6886,N,-12211.1556,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191253.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191253.78,3642.6889,N,-12211.1562,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191254.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191254.78,3642.6891,N,-12211.1567,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191255.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191255.78,3642.6892,N,-12211.1574,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191256.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191256.78,3642.6892,N,-12211.1580,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191257.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191257.78,3642.6892,N,-12211.1586,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191258.00,,,,,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,191258.78,3642.6891,N,-12211.1592,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4063176.02, 572701.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191259.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 450.00 : 33.00 : Estimated East Bias at time = 450.00 : 33.00 : Estimated Depth Bias at time = 450.00 : 0.00 : Estimated northing and easting = 4063209.02 : 572734.12 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191259.78,3642.6890,N,-12211.1598,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191300.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191300.78,3642.6888,N,-12211.1604,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191301.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191301.78,3642.6885,N,-12211.1609,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191302.00,,,,,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,191302.78,3642.6881,N,-12211.1614,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191303.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191303.78,3642.6878,N,-12211.1618,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191304.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191304.78,3642.6873,N,-12211.1622,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191305.00,,,,,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,191305.78,3642.6869,N,-12211.1626,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191306.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191306.78,3642.6864,N,-12211.1628,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191307.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191307.78,3642.6859,N,-12211.1629,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191308.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191308.78,3642.6854,N,-12211.1630,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainNav update at nav time = 459.998488 : TerrainNav update at dvl time = 459.998488 : _navData-> (x,y) = (4063169.00, 572695.58) : _tercom->outstandingMeas() = 0 : stat is 92230 : got a SAN packet : time:69230.546875 : lat:36.7117 lon:-122.1858 : slant range: 1.00 : SNR:17.500000 AGC:39 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71173 lon -122.18575 : AshtechGps::processRecord() - $GPGGA,191309.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 460.00 : 32.00 : Estimated East Bias at time = 460.00 : 33.00 : Estimated Depth Bias at time = 460.00 : 0.00 : Estimated northing and easting = 4063201.00 : 572728.58 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191309.78,3642.7034,N,-12211.1451,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191310.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191310.78,3642.7029,N,-12211.1450,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191311.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191311.78,3642.7024,N,-12211.1449,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191312.00,,,,,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,191312.78,3642.7019,N,-12211.1446,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191313.00,,,,,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,191313.78,3642.7014,N,-12211.1442,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191314.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191314.78,3642.7010,N,-12211.1437,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191315.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191315.78,3642.7007,N,-12211.1432,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191316.00,,,,,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,191316.78,3642.7004,N,-12211.1427,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191317.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191317.78,3642.7002,N,-12211.1421,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191318.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191318.78,3642.7001,N,-12211.1414,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 469.997803 : TerrainNav update at dvl time = 469.997803 : _navData-> (x,y) = (4063196.49, 572727.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191319.00,,,,,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,191319.78,3642.7000,N,-12211.1408,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191320.00,,,,,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,191320.78,3642.7001,N,-12211.1401,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191321.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191321.78,3642.7002,N,-12211.1395,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191322.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 470.00 : 32.00 : Estimated East Bias at time = 470.00 : 31.00 : Estimated Depth Bias at time = 470.00 : 0.00 : Estimated northing and easting = 4063228.49 : 572758.42 : NMEA Update: $GPGGA,191322.78,3642.7004,N,-12211.1389,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191323.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191323.78,3642.7006,N,-12211.1383,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191324.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191324.78,3642.7010,N,-12211.1378,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191325.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191325.78,3642.7013,N,-12211.1374,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191326.00,,,,,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,191326.78,3642.7017,N,-12211.1370,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191327.00,,,,,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,191327.78,3642.7021,N,-12211.1367,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191328.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191328.78,3642.7026,N,-12211.1364,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4063201.25, 572734.84) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 480.00 : 32.00 : Estimated East Bias at time = 480.00 : 31.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191329.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 480.00 : 0.00 : Estimated northing and easting = 4063233.25 : 572765.84 : NMEA Update: $GPGGA,191329.78,3642.7031,N,-12211.1362,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191330.00,,,,,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,191330.78,3642.7037,N,-12211.1361,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191331.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191331.78,3642.7042,N,-12211.1361,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191332.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191332.78,3642.7047,N,-12211.1361,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191333.00,,,,,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,191333.78,3642.7053,N,-12211.1361,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191334.00,,,,,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,191334.78,3642.7058,N,-12211.1363,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191335.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191335.78,3642.7063,N,-12211.1366,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191336.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191336.78,3642.7068,N,-12211.1368,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191337.00,,,,,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,191337.78,3642.7072,N,-12211.1372,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191338.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191338.78,3642.7076,N,-12211.1376,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 489.996433 : TerrainNav update at dvl time = 489.996433 : _navData-> (x,y) = (4063210.52, 572733.01) : _tercom->outstandingMeas() = 0 : 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,191339.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 490.00 : 31.00 : Estimated East Bias at time = 490.00 : 31.00 : Estimated Depth Bias at time = 490.00 : 0.00 : Estimated northing and easting = 4063241.52 : 572764.01 : NMEA Update: $GPGGA,191339.78,3642.7080,N,-12211.1381,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191340.00,,,,,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,191340.78,3642.7083,N,-12211.1386,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191341.00,,,,,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,191341.78,3642.7086,N,-12211.1392,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191342.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191342.78,3642.7088,N,-12211.1397,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191343.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191343.78,3642.7089,N,-12211.1404,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191344.00,,,,,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,191344.78,3642.7090,N,-12211.1410,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191345.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191345.78,3642.7089,N,-12211.1417,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191346.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191346.78,3642.7089,N,-12211.1423,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191347.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191347.78,3642.7087,N,-12211.1428,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191348.00,,,,,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,191348.78,3642.7085,N,-12211.1434,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 499.995748 : TerrainNav update at dvl time = 499.995748 : _navData-> (x,y) = (4063212.09, 572724.30) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 500.00 : 30.00 : Estimated East Bias at time = 500.00 : 31.00 : AshtechGps::processRecord() - $GPGGA,191349.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 500.00 : 0.00 : Estimated northing and easting = 4063242.09 : 572755.30 : NMEA Update: $GPGGA,191349.78,3642.7083,N,-12211.1440,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191350.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191350.78,3642.7080,N,-12211.1445,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191351.00,,,,,0,00,,,M,,M,,*46 : 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,191351.78,3642.7076,N,-12211.1449,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191352.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191352.78,3642.7072,N,-12211.1452,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191353.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191353.78,3642.7067,N,-12211.1455,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191354.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191354.78,3642.7062,N,-12211.1457,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191355.00,,,,,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,191355.78,3642.7057,N,-12211.1459,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191356.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191356.78,3642.7052,N,-12211.1459,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191357.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191357.78,3642.7046,N,-12211.1459,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191358.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191358.78,3642.7041,N,-12211.1458,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 509.995063 : TerrainNav update at dvl time = 509.995063 : _navData-> (x,y) = (4063203.87, 572720.90) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 510.00 : 30.00 : Estimated East Bias at time = 510.00 : 32.00 : AshtechGps::processRecord() - $GPGGA,191359.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 510.00 : 0.00 : Estimated northing and easting = 4063233.87 : 572752.90 : NMEA Update: $GPGGA,191359.78,3642.7036,N,-12211.1456,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191400.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191400.78,3642.7031,N,-12211.1453,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191401.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191401.78,3642.7026,N,-12211.1449,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191402.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191402.59,3642.7023,N,-12211.1445,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191403.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191403.59,3642.7020,N,-12211.1440,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191404.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191404.59,3642.7017,N,-12211.1435,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191405.00,,,,,0,00,,,M,,M,,*40 : 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,191405.59,3642.7014,N,-12211.1429,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191406.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191406.59,3642.7013,N,-12211.1423,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191407.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191407.59,3642.7012,N,-12211.1416,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191408.00,,,,,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,191408.59,3642.7012,N,-12211.1409,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 519.994378 : TerrainNav update at dvl time = 519.994378 : _navData-> (x,y) = (4063198.62, 572728.36) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 519.99 : 30.00 : Estimated East Bias at time = 519.99 : 32.00 : Estimated Depth Bias at time = 519.99 : 0.00 : Estimated northing and easting = 4063228.62 : 572760.36 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191409.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191409.59,3642.7013,N,-12211.1403,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191410.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191410.59,3642.7014,N,-12211.1396,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191411.00,,,,,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,191411.59,3642.7017,N,-12211.1390,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191412.00,,,,,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,191412.59,3642.7019,N,-12211.1384,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191413.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191413.59,3642.7023,N,-12211.1379,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191414.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191414.59,3642.7027,N,-12211.1374,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191415.00,,,,,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,191415.59,3642.7031,N,-12211.1371,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191416.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191416.59,3642.7035,N,-12211.1367,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191417.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191417.59,3642.7040,N,-12211.1365,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191418.00,,,,,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,191418.59,3642.7045,N,-12211.1363,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 529.993693 : TerrainNav update at dvl time = 529.993693 : _navData-> (x,y) = (4063204.86, 572735.05) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 529.99 : 30.00 : Estimated East Bias at time = 529.99 : 32.00 : Estimated Depth Bias at time = 529.99 : 0.00 : Estimated northing and easting = 4063234.86 : 572767.05 : AshtechGps::processRecord() - $GPGGA,191419.00,,,,,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,191419.59,3642.7050,N,-12211.1362,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191420.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191420.59,3642.7055,N,-12211.1362,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191421.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191421.59,3642.7060,N,-12211.1362,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191422.00,,,,,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,191422.59,3642.7065,N,-12211.1364,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191423.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191423.59,3642.7070,N,-12211.1366,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191424.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191424.59,3642.7075,N,-12211.1369,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191425.00,,,,,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,191425.59,3642.7079,N,-12211.1373,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191426.00,,,,,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,191426.59,3642.7083,N,-12211.1377,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191427.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191427.59,3642.7087,N,-12211.1382,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191428.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191428.59,3642.7090,N,-12211.1387,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 540.003007 : TerrainNav update at dvl time = 540.003007 : _navData-> (x,y) = (4063213.13, 572731.11) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 540.00 : 31.00 : Estimated East Bias at time = 540.00 : 32.00 : Estimated Depth Bias at time = 540.00 : 0.00 : Estimated northing and easting = 4063244.13 : 572763.11 : AshtechGps::processRecord() - $GPGGA,191429.00,,,,,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,191429.59,3642.7093,N,-12211.1393,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191430.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191430.59,3642.7095,N,-12211.1399,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191431.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191431.59,3642.7096,N,-12211.1406,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191432.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191432.59,3642.7097,N,-12211.1412,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191433.00,,,,,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,191433.59,3642.7098,N,-12211.1419,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191434.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191434.59,3642.7097,N,-12211.1425,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191435.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191435.59,3642.7096,N,-12211.1432,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191436.00,,,,,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,191436.59,3642.7095,N,-12211.1438,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191437.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191437.59,3642.7092,N,-12211.1444,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191438.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191438.59,3642.7089,N,-12211.1450,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 550.002322 : TerrainNav update at dvl time = 550.002322 : _navData-> (x,y) = (4063212.69, 572721.81) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 550.00 : 32.00 : Estimated East Bias at time = 550.00 : 32.00 : Estimated Depth Bias at time = 550.00 : 0.00 : Estimated northing and easting = 4063244.69 : 572753.81 : AshtechGps::processRecord() - $GPGGA,191439.00,,,,,0,00,,,M,,M,,*4F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191439.59,3642.7086,N,-12211.1455,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191440.00,,,,,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,191440.59,3642.7082,N,-12211.1459,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191441.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191441.59,3642.7077,N,-12211.1463,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191442.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191442.59,3642.7072,N,-12211.1466,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191443.00,,,,,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,191443.59,3642.7067,N,-12211.1468,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191444.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191444.59,3642.7062,N,-12211.1469,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191445.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191445.59,3642.7057,N,-12211.1469,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191446.00,,,,,0,00,,,M,,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191446.59,3642.7052,N,-12211.1469,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191447.00,,,,,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,191447.59,3642.7047,N,-12211.1467,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191448.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191448.59,3642.7042,N,-12211.1465,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 560.001637 : TerrainNav update at dvl time = 560.001637 : _navData-> (x,y) = (4063203.91, 572719.88) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 560.00 : 33.00 : Estimated East Bias at time = 560.00 : 33.00 : Estimated Depth Bias at time = 560.00 : 0.00 : Estimated northing and easting = 4063236.91 : 572752.88 : AshtechGps::processRecord() - $GPGGA,191449.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191449.59,3642.7038,N,-12211.1462,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191450.00,,,,,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,191450.59,3642.7034,N,-12211.1458,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191451.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191451.59,3642.7030,N,-12211.1453,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191452.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191452.59,3642.7028,N,-12211.1448,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191453.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191453.59,3642.7026,N,-12211.1442,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191454.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191454.59,3642.7024,N,-12211.1437,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191455.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191455.59,3642.7024,N,-12211.1430,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191456.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191456.59,3642.7024,N,-12211.1424,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191457.00,,,,,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,191457.59,3642.7025,N,-12211.1418,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191458.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191458.59,3642.7026,N,-12211.1412,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4063201.27, 572727.89) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 570.00 : 33.00 : Estimated East Bias at time = 570.00 : 33.00 : Estimated Depth Bias at time = 570.00 : 0.00 : Estimated northing and easting = 4063234.27 : 572760.89 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191459.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191459.59,3642.7028,N,-12211.1406,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191500.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191500.59,3642.7031,N,-12211.1401,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191501.00,,,,,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,191501.59,3642.7035,N,-12211.1396,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191502.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191502.59,3642.7038,N,-12211.1392,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191503.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191503.59,3642.7043,N,-12211.1388,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191504.00,,,,,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,191504.58,3642.7047,N,-12211.1385,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191505.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191505.58,3642.7052,N,-12211.1382,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191506.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191506.58,3642.7057,N,-12211.1380,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191507.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191507.58,3642.7063,N,-12211.1379,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191508.00,,,,,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,191508.58,3642.7068,N,-12211.1378,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 580.000267 : TerrainNav update at dvl time = 580.000267 : _navData-> (x,y) = (4063209.19, 572732.65) : _tercom->outstandingMeas() = 0 : stat is 92230 : got a SAN packet : time:69350.781250 : lat:36.7117 lon:-122.1859 : slant range: 1.00 : SNR:18.299999 AGC:49 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71169 lon -122.18593 : AshtechGps::processRecord() - $GPGGA,191509.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 580.00 : 33.00 : Estimated East Bias at time = 580.00 : 33.00 : Estimated Depth Bias at time = 580.00 : 0.00 : Estimated northing and easting = 4063242.19 : 572765.65 : NMEA Update: $GPGGA,191509.58,3642.7020,N,-12211.1557,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191510.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191510.58,3642.7025,N,-12211.1558,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191511.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191511.58,3642.7031,N,-12211.1560,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191512.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191512.58,3642.7036,N,-12211.1562,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191513.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191513.58,3642.7040,N,-12211.1566,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191514.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191514.58,3642.7044,N,-12211.1569,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191515.00,,,,,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,191515.58,3642.7048,N,-12211.1574,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191516.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191516.58,3642.7052,N,-12211.1578,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191517.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191517.58,3642.7055,N,-12211.1584,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191518.00,,,,,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,191518.58,3642.7058,N,-12211.1589,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 589.999582 : TerrainNav update at dvl time = 589.999582 : _navData-> (x,y) = (4063206.84, 572701.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191519.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191519.58,3642.7059,N,-12211.1595,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191520.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191520.58,3642.7061,N,-12211.1601,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191521.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 590.00 : 32.00 : Estimated East Bias at time = 590.00 : 32.00 : Estimated Depth Bias at time = 590.00 : 0.00 : Estimated northing and easting = 4063238.84 : 572733.13 : NMEA Update: $GPGGA,191521.58,3642.7062,N,-12211.1608,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191522.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191522.58,3642.7062,N,-12211.1614,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191523.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191523.58,3642.7062,N,-12211.1621,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : 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,191524.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191524.58,3642.7060,N,-12211.1627,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191525.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191525.58,3642.7059,N,-12211.1634,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191526.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191526.58,3642.7056,N,-12211.1640,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191527.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191527.58,3642.7053,N,-12211.1645,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191528.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191528.58,3642.7050,N,-12211.1650,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 599.998897 : TerrainNav update at dvl time = 599.998897 : _navData-> (x,y) = (4063205.14, 572692.15) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 600.00 : 31.00 : AshtechGps::processRecord() - $GPGGA,191529.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 600.00 : 32.00 : Estimated Depth Bias at time = 600.00 : 0.00 : Estimated northing and easting = 4063236.14 : 572724.15 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191529.58,3642.7046,N,-12211.1654,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191530.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191530.58,3642.7042,N,-12211.1658,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191531.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191531.58,3642.7037,N,-12211.1661,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191532.00,,,,,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,191532.58,3642.7032,N,-12211.1663,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191533.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191533.58,3642.7027,N,-12211.1664,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191534.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191534.58,3642.7022,N,-12211.1664,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191535.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191535.58,3642.7017,N,-12211.1664,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191536.00,,,,,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,191536.58,3642.7012,N,-12211.1662,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191537.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191537.58,3642.7008,N,-12211.1659,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191538.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191538.58,3642.7003,N,-12211.1656,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 609.998212 : TerrainNav update at dvl time = 609.998212 : _navData-> (x,y) = (4063196.51, 572691.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191539.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 610.00 : 32.00 : Estimated East Bias at time = 610.00 : 33.00 : Estimated Depth Bias at time = 610.00 : 0.00 : Estimated northing and easting = 4063228.51 : 572724.54 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191539.58,3642.7000,N,-12211.1652,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191540.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191540.58,3642.6996,N,-12211.1647,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191541.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191541.58,3642.6994,N,-12211.1641,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191542.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191542.58,3642.6992,N,-12211.1635,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191543.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191543.58,3642.6991,N,-12211.1629,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191544.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191544.58,3642.6990,N,-12211.1623,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191545.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191545.58,3642.6991,N,-12211.1616,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191546.00,,,,,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,191546.58,3642.6992,N,-12211.1610,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191547.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191547.58,3642.6993,N,-12211.1604,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191548.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191548.58,3642.6995,N,-12211.1598,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 619.997527 : TerrainNav update at dvl time = 619.997527 : _navData-> (x,y) = (4063195.33, 572700.30) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191549.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 620.00 : 33.00 : Estimated East Bias at time = 620.00 : 33.00 : Estimated Depth Bias at time = 620.00 : 0.00 : Estimated northing and easting = 4063228.33 : 572733.30 : NMEA Update: $GPGGA,191549.58,3642.6998,N,-12211.1592,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191550.00,,,,,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,191550.58,3642.7001,N,-12211.1587,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191551.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191551.58,3642.7005,N,-12211.1582,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191552.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191552.58,3642.7009,N,-12211.1578,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191553.00,,,,,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,191553.58,3642.7014,N,-12211.1574,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191554.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191554.58,3642.7019,N,-12211.1571,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191555.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191555.58,3642.7024,N,-12211.1570,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191556.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191556.58,3642.7030,N,-12211.1569,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191557.00,,,,,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,191557.58,3642.7035,N,-12211.1568,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191558.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191558.58,3642.7040,N,-12211.1568,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4063203.85, 572704.41) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191559.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 630.00 : 32.00 : Estimated East Bias at time = 630.00 : 32.00 : Estimated Depth Bias at time = 630.00 : 0.00 : Estimated northing and easting = 4063235.85 : 572736.41 : NMEA Update: $GPGGA,191559.58,3642.7046,N,-12211.1570,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191600.00,,,,,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,191600.58,3642.7051,N,-12211.1571,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191601.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191601.58,3642.7056,N,-12211.1573,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191602.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191602.58,3642.7060,N,-12211.1577,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191603.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191603.58,3642.7064,N,-12211.1580,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191604.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191604.58,3642.7068,N,-12211.1585,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191605.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191605.58,3642.7072,N,-12211.1589,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191606.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191606.58,3642.7075,N,-12211.1594,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191607.00,,,,,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,191607.58,3642.7077,N,-12211.1600,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,191608.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191608.58,3642.7079,N,-12211.1606,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 639.996157 : TerrainNav update at dvl time = 639.996157 : _navData-> (x,y) = (4063210.73, 572698.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191609.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 640.00 : 33.00 : Estimated East Bias at time = 640.00 : 33.00 : Estimated Depth Bias at time = 640.00 : 0.00 : Estimated northing and easting = 4063243.73 : 572731.62 : NMEA Update: $GPGGA,191609.58,3642.7080,N,-12211.1612,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191610.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191610.58,3642.7081,N,-12211.1618,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191611.00,,,,,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,191611.58,3642.7081,N,-12211.1625,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191612.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191612.58,3642.7081,N,-12211.1631,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191613.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191613.58,3642.7080,N,-12211.1637,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191614.00,,,,,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,191614.58,3642.7078,N,-12211.1643,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191615.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191615.58,3642.7076,N,-12211.1648,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191616.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191616.58,3642.7073,N,-12211.1654,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191617.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191617.58,3642.7070,N,-12211.1658,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191618.00,,,,,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,191618.58,3642.7066,N,-12211.1663,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 649.995472 : TerrainNav update at dvl time = 649.995472 : _navData-> (x,y) = (4063208.11, 572690.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191619.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 650.00 : 33.00 : Estimated East Bias at time = 650.00 : 33.00 : Estimated Depth Bias at time = 650.00 : 0.00 : Estimated northing and easting = 4063241.11 : 572723.24 : NMEA Update: $GPGGA,191619.58,3642.7062,N,-12211.1666,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191620.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191620.58,3642.7057,N,-12211.1669,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191621.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191621.58,3642.7052,N,-12211.1671,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191622.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191622.58,3642.7047,N,-12211.1672,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191623.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191623.58,3642.7041,N,-12211.1672,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191624.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191624.58,3642.7036,N,-12211.1672,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191625.00,,,,,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,191625.58,3642.7031,N,-12211.1671,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191626.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191626.58,3642.7026,N,-12211.1668,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191627.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191627.58,3642.7021,N,-12211.1665,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191628.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191628.39,3642.7018,N,-12211.1662,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 659.994787 : TerrainNav update at dvl time = 659.994787 : _navData-> (x,y) = (4063198.99, 572690.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191629.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 659.99 : 33.00 : Estimated East Bias at time = 659.99 : 33.00 : Estimated Depth Bias at time = 659.99 : 0.00 : NMEA Update: $GPGGA,191629.39,3642.7014,N,-12211.1658,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Estimated northing and easting = 4063231.99 : 572723.69 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191630.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191630.39,3642.7010,N,-12211.1653,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191631.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191631.39,3642.7008,N,-12211.1648,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191632.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191632.39,3642.7006,N,-12211.1642,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191633.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191633.39,3642.7004,N,-12211.1635,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191634.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191634.39,3642.7004,N,-12211.1629,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191635.00,,,,,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,191635.39,3642.7004,N,-12211.1623,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191636.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191636.39,3642.7005,N,-12211.1616,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191637.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191637.39,3642.7007,N,-12211.1610,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191638.00,,,,,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,191638.39,3642.7009,N,-12211.1605,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 669.994102 : TerrainNav update at dvl time = 669.994102 : _navData-> (x,y) = (4063197.99, 572699.39) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191639.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 669.99 : 33.00 : Estimated East Bias at time = 669.99 : 33.00 : Estimated Depth Bias at time = 669.99 : 0.00 : Estimated northing and easting = 4063230.99 : 572732.39 : NMEA Update: $GPGGA,191639.39,3642.7012,N,-12211.1599,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191640.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191640.39,3642.7016,N,-12211.1595,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191641.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191641.39,3642.7020,N,-12211.1591,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191642.00,,,,,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,191642.39,3642.7024,N,-12211.1587,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191643.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191643.39,3642.7029,N,-12211.1584,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191644.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191644.39,3642.7034,N,-12211.1582,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191645.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191645.39,3642.7039,N,-12211.1581,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191646.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191646.39,3642.7045,N,-12211.1580,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191647.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191647.39,3642.7050,N,-12211.1581,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191648.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191648.39,3642.7055,N,-12211.1582,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainNav update at nav time = 679.993417 : TerrainNav update at dvl time = 679.993417 : _navData-> (x,y) = (4063206.77, 572702.35) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 679.99 : 33.00 : Estimated East Bias at time = 679.99 : 33.00 : Estimated Depth Bias at time = 679.99 : 0.00 : Estimated northing and easting = 4063239.77 : 572735.35 : AshtechGps::processRecord() - $GPGGA,191649.00,,,,,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,191649.39,3642.7061,N,-12211.1583,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191650.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191650.39,3642.7066,N,-12211.1585,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191651.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191651.39,3642.7071,N,-12211.1588,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191652.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191652.39,3642.7075,N,-12211.1592,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191653.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191653.39,3642.7079,N,-12211.1596,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191654.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191654.39,3642.7083,N,-12211.1601,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191655.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191655.39,3642.7086,N,-12211.1607,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191656.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191656.39,3642.7089,N,-12211.1612,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191657.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191657.39,3642.7091,N,-12211.1618,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191658.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191658.39,3642.7092,N,-12211.1624,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4063213.25, 572695.64) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 690.00 : 33.00 : Estimated East Bias at time = 690.00 : 33.00 : Estimated Depth Bias at time = 690.00 : 0.00 : Estimated northing and easting = 4063246.25 : 572728.64 : AshtechGps::processRecord() - $GPGGA,191659.00,,,,,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,191659.39,3642.7093,N,-12211.1631,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191700.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191700.39,3642.7093,N,-12211.1637,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191701.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191701.39,3642.7093,N,-12211.1644,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191702.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191702.39,3642.7092,N,-12211.1650,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191703.00,,,,,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,191703.39,3642.7090,N,-12211.1656,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191704.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191704.39,3642.7088,N,-12211.1662,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191705.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191705.39,3642.7085,N,-12211.1667,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191706.00,,,,,0,00,,,M,,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191706.39,3642.7081,N,-12211.1672,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191707.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191707.39,3642.7077,N,-12211.1675,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : 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,191708.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191708.39,3642.7073,N,-12211.1679,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainNav update at nav time = 700.002047 : TerrainNav update at dvl time = 700.002047 : _navData-> (x,y) = (4063209.10, 572687.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 700.00 : 33.00 : Estimated East Bias at time = 700.00 : 33.00 : Estimated Depth Bias at time = 700.00 : 0.00 : Estimated northing and easting = 4063242.10 : 572720.77 : AshtechGps::processRecord() - $GPGGA,191709.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191709.39,3642.7068,N,-12211.1681,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191710.00,,,,,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,191710.39,3642.7063,N,-12211.1683,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191711.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191711.39,3642.7058,N,-12211.1684,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191712.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191712.39,3642.7052,N,-12211.1683,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191713.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191713.39,3642.7047,N,-12211.1682,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191714.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191714.39,3642.7042,N,-12211.1680,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : 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,191715.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191715.39,3642.7037,N,-12211.1677,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191716.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191716.39,3642.7033,N,-12211.1674,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191717.00,,,,,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,191717.39,3642.7029,N,-12211.1669,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191718.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191718.39,3642.7025,N,-12211.1664,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 710.001362 : TerrainNav update at dvl time = 710.001362 : _navData-> (x,y) = (4063200.51, 572690.53) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 710.00 : 33.00 : Estimated East Bias at time = 710.00 : 33.00 : Estimated Depth Bias at time = 710.00 : 0.00 : Estimated northing and easting = 4063233.51 : 572723.53 : AshtechGps::processRecord() - $GPGGA,191719.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191719.39,3642.7023,N,-12211.1659,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191720.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191720.39,3642.7021,N,-12211.1652,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191721.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191721.39,3642.7019,N,-12211.1646,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : 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,191722.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191722.39,3642.7018,N,-12211.1639,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191723.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191723.39,3642.7018,N,-12211.1632,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191724.00,,,,,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,191724.39,3642.7019,N,-12211.1626,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191725.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191725.39,3642.7021,N,-12211.1619,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191726.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191726.39,3642.7023,N,-12211.1613,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191727.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191727.39,3642.7026,N,-12211.1607,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191728.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191728.39,3642.7029,N,-12211.1602,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 720.000677 : TerrainNav update at dvl time = 720.000677 : _navData-> (x,y) = (4063201.79, 572699.68) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191729.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 720.00 : 33.00 : Estimated East Bias at time = 720.00 : 33.00 : Estimated Depth Bias at time = 720.00 : 0.00 : Estimated northing and easting = 4063234.79 : 572732.68 : NMEA Update: $GPGGA,191729.39,3642.7033,N,-12211.1598,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191730.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191730.38,3642.7037,N,-12211.1594,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191731.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191731.38,3642.7042,N,-12211.1591,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191732.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191732.38,3642.7047,N,-12211.1588,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191733.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191733.38,3642.7052,N,-12211.1586,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191734.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191734.38,3642.7057,N,-12211.1585,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191735.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191735.38,3642.7063,N,-12211.1585,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191736.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191736.38,3642.7068,N,-12211.1585,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191737.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191737.38,3642.7073,N,-12211.1587,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191738.00,,,,,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,191738.38,3642.7077,N,-12211.1589,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 729.999992 : TerrainNav update at dvl time = 729.999992 : _navData-> (x,y) = (4063210.79, 572701.19) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 730.00 : 33.00 : Estimated East Bias at time = 730.00 : 33.00 : AshtechGps::processRecord() - $GPGGA,191739.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 730.00 : 0.00 : Estimated northing and easting = 4063243.79 : 572734.19 : NMEA Update: $GPGGA,191739.38,3642.7082,N,-12211.1591,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191740.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191740.38,3642.7087,N,-12211.1595,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191741.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191741.38,3642.7091,N,-12211.1598,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191742.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191742.38,3642.7094,N,-12211.1602,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191743.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191743.38,3642.7098,N,-12211.1608,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191744.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191744.38,3642.7100,N,-12211.1613,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,191745.00,,,,,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,191745.38,3642.7103,N,-12211.1619,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191746.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191746.38,3642.7104,N,-12211.1625,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191747.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191747.38,3642.7105,N,-12211.1631,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191748.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191748.38,3642.7106,N,-12211.1638,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 739.999307 : TerrainNav update at dvl time = 739.999307 : _navData-> (x,y) = (4063215.60, 572693.60) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 740.00 : 33.00 : Estimated East Bias at time = 740.00 : 33.00 : AshtechGps::processRecord() - $GPGGA,191749.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 740.00 : 0.00 : Estimated northing and easting = 4063248.60 : 572726.60 : NMEA Update: $GPGGA,191749.38,3642.7106,N,-12211.1645,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191750.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191750.38,3642.7105,N,-12211.1651,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191751.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191751.38,3642.7103,N,-12211.1657,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,191752.00,,,,,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,191752.38,3642.7101,N,-12211.1663,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : stat is 92230 : got a SAN packet : time:69514.875000 : lat:36.7118 lon:-122.1859 : slant range: 1.00 : SNR:17.299999 AGC:43 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71180 lon -122.18589 : AshtechGps::processRecord() - $GPGGA,191753.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191753.38,3642.7081,N,-12211.1536,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : 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,191754.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191754.38,3642.7078,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191755.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191755.38,3642.7073,N,-12211.1546,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191756.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191756.38,3642.7069,N,-12211.1550,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191757.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191757.38,3642.7064,N,-12211.1553,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191758.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191758.38,3642.7059,N,-12211.1556,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 749.998621 : TerrainNav update at dvl time = 749.998621 : _navData-> (x,y) = (4063206.75, 572706.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191759.00,,,,,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,191759.38,3642.7054,N,-12211.1558,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Estimated North Bias at time = 750.00 : 32.00 : Estimated East Bias at time = 750.00 : 32.00 : Estimated Depth Bias at time = 750.00 : 0.00 : Estimated northing and easting = 4063238.75 : 572738.13 : AshtechGps::processRecord() - $GPGGA,191800.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191800.38,3642.7049,N,-12211.1559,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191801.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191801.38,3642.7043,N,-12211.1560,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191802.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191802.38,3642.7038,N,-12211.1559,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191803.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191803.38,3642.7033,N,-12211.1557,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191804.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191804.38,3642.7028,N,-12211.1554,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191805.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191805.38,3642.7024,N,-12211.1551,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191806.00,,,,,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,191806.38,3642.7020,N,-12211.1547,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191807.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191807.38,3642.7016,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191808.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191808.38,3642.7013,N,-12211.1536,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainNav update at nav time = 759.997936 : TerrainNav update at dvl time = 759.997936 : _navData-> (x,y) = (4063198.51, 572709.54) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 760.00 : 31.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191809.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 760.00 : 33.00 : Estimated Depth Bias at time = 760.00 : 0.00 : Estimated northing and easting = 4063229.51 : 572742.54 : NMEA Update: $GPGGA,191809.38,3642.7011,N,-12211.1531,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,191810.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191810.38,3642.7010,N,-12211.1525,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191811.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191811.38,3642.7010,N,-12211.1519,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191812.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191812.38,3642.7010,N,-12211.1513,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191813.00,,,,,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,191813.38,3642.7011,N,-12211.1506,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191814.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191814.38,3642.7013,N,-12211.1500,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191815.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191815.38,3642.7015,N,-12211.1495,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191816.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191816.38,3642.7018,N,-12211.1489,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191817.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191817.38,3642.7022,N,-12211.1484,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191818.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191818.38,3642.7026,N,-12211.1480,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 769.997252 : TerrainNav update at dvl time = 769.997252 : _navData-> (x,y) = (4063201.39, 572717.77) : _tercom->outstandingMeas() = 0 : 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,191819.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 770.00 : 31.00 : Estimated East Bias at time = 770.00 : 32.00 : Estimated Depth Bias at time = 770.00 : 0.00 : Estimated northing and easting = 4063232.39 : 572749.77 : NMEA Update: $GPGGA,191819.38,3642.7030,N,-12211.1477,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191820.00,,,,,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,191820.38,3642.7035,N,-12211.1474,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191821.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191821.38,3642.7040,N,-12211.1472,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191822.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191822.38,3642.7045,N,-12211.1470,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191823.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191823.38,3642.7050,N,-12211.1469,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,191824.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191824.38,3642.7055,N,-12211.1469,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191825.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191825.38,3642.7061,N,-12211.1469,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : 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,191826.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191826.38,3642.7066,N,-12211.1471,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191827.00,,,,,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,191827.38,3642.7071,N,-12211.1473,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191828.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191828.38,3642.7075,N,-12211.1475,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4063210.48, 572718.02) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 780.00 : 32.00 : Estimated East Bias at time = 780.00 : 33.00 : Estimated Depth Bias at time = 780.00 : 0.00 : Estimated northing and easting = 4063242.48 : 572751.02 : AshtechGps::processRecord() - $GPGGA,191829.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191829.38,3642.7080,N,-12211.1478,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191830.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191830.38,3642.7084,N,-12211.1482,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191831.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191831.38,3642.7087,N,-12211.1486,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191832.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191832.38,3642.7091,N,-12211.1491,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191833.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191833.38,3642.7093,N,-12211.1497,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191834.00,,,,,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,191834.38,3642.7095,N,-12211.1502,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191835.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191835.38,3642.7097,N,-12211.1508,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191836.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191836.38,3642.7098,N,-12211.1514,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191837.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191837.38,3642.7098,N,-12211.1521,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,191838.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191838.38,3642.7098,N,-12211.1527,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 789.995882 : TerrainNav update at dvl time = 789.995882 : _navData-> (x,y) = (4063214.30, 572710.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191839.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 790.00 : 33.00 : Estimated East Bias at time = 790.00 : 33.00 : Estimated Depth Bias at time = 790.00 : 0.00 : Estimated northing and easting = 4063247.30 : 572743.07 : NMEA Update: $GPGGA,191839.38,3642.7097,N,-12211.1534,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191840.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191840.38,3642.7096,N,-12211.1540,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191841.00,,,,,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,191841.38,3642.7094,N,-12211.1545,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,191842.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191842.38,3642.7091,N,-12211.1551,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191843.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191843.38,3642.7087,N,-12211.1556,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191844.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191844.38,3642.7083,N,-12211.1560,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191845.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191845.38,3642.7079,N,-12211.1563,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191846.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191846.38,3642.7075,N,-12211.1566,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191847.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191847.38,3642.7070,N,-12211.1569,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191848.00,,,,,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,191848.38,3642.7065,N,-12211.1570,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 799.995197 : TerrainNav update at dvl time = 799.995197 : _navData-> (x,y) = (4063207.77, 572704.03) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 800.00 : 33.00 : Estimated East Bias at time = 800.00 : 34.00 : Estimated Depth Bias at time = 800.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,191849.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063240.77 : 572738.03 : NMEA Update: $GPGGA,191849.38,3642.7060,N,-12211.1571,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191850.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191850.38,3642.7054,N,-12211.1571,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191851.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191851.38,3642.7049,N,-12211.1570,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191852.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191852.38,3642.7044,N,-12211.1567,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191853.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191853.38,3642.7039,N,-12211.1564,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191854.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191854.39,3642.7035,N,-12211.1561,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191855.00,,,,,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,191855.39,3642.7032,N,-12211.1556,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191856.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191856.39,3642.7029,N,-12211.1551,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191857.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191857.39,3642.7026,N,-12211.1546,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191858.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191858.39,3642.7024,N,-12211.1540,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 809.994512 : TerrainNav update at dvl time = 809.994512 : _navData-> (x,y) = (4063200.61, 572709.01) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 809.99 : 34.00 : Estimated East Bias at time = 809.99 : 34.00 : Estimated Depth Bias at time = 809.99 : 0.00 : Estimated northing and easting = 4063234.61 : 572743.01 : AshtechGps::processRecord() - $GPGGA,191859.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191859.39,3642.7023,N,-12211.1534,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191900.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191900.39,3642.7023,N,-12211.1528,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191901.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191901.39,3642.7023,N,-12211.1522,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191902.00,,,,,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,191902.39,3642.7024,N,-12211.1515,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,191903.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191903.39,3642.7026,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191904.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191904.39,3642.7028,N,-12211.1503,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,191905.00,,,,,0,00,,,M,,M,,*4D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191905.39,3642.7031,N,-12211.1498,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191906.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191906.39,3642.7034,N,-12211.1493,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191907.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191907.39,3642.7038,N,-12211.1489,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191908.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191908.39,3642.7043,N,-12211.1485,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 819.993827 : TerrainNav update at dvl time = 819.993827 : _navData-> (x,y) = (4063204.55, 572717.04) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191909.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 819.99 : 34.00 : Estimated East Bias at time = 819.99 : 34.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191909.39,3642.7048,N,-12211.1482,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated Depth Bias at time = 819.99 : 0.00 : Estimated northing and easting = 4063238.55 : 572751.04 : AshtechGps::processRecord() - $GPGGA,191910.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191910.39,3642.7053,N,-12211.1479,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191911.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191911.39,3642.7058,N,-12211.1478,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191912.00,,,,,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,191912.39,3642.7063,N,-12211.1477,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191913.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191913.39,3642.7068,N,-12211.1477,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191914.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191914.39,3642.7073,N,-12211.1477,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191915.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191915.39,3642.7078,N,-12211.1478,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191916.00,,,,,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,191916.39,3642.7083,N,-12211.1480,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,191917.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191917.39,3642.7088,N,-12211.1483,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191918.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191918.39,3642.7092,N,-12211.1486,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 830.003141 : TerrainNav update at dvl time = 830.003141 : _navData-> (x,y) = (4063213.45, 572716.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191919.00,,,,,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 : Estimated North Bias at time = 830.00 : 35.00 : Estimated East Bias at time = 830.00 : 35.00 : Estimated Depth Bias at time = 830.00 : 0.00 : Estimated northing and easting = 4063248.45 : 572751.32 : NMEA Update: $GPGGA,191919.39,3642.7095,N,-12211.1490,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191920.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191920.39,3642.7098,N,-12211.1495,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191921.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191921.39,3642.7101,N,-12211.1499,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191922.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191922.39,3642.7104,N,-12211.1504,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,191923.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,191923.39,3642.7106,N,-12211.1510,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191924.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191924.39,3642.7107,N,-12211.1516,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191925.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191925.39,3642.7108,N,-12211.1522,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191926.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191926.39,3642.7108,N,-12211.1528,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191927.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191927.39,3642.7108,N,-12211.1535,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191928.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191928.39,3642.7106,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4063215.77, 572707.87) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191929.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191929.39,3642.7105,N,-12211.1548,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : Estimated North Bias at time = 840.00 : 35.00 : Estimated East Bias at time = 840.00 : 35.00 : Estimated Depth Bias at time = 840.00 : 0.00 : Estimated northing and easting = 4063250.77 : 572742.87 : AshtechGps::processRecord() - $GPGGA,191930.00,,,,,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,191930.39,3642.7103,N,-12211.1554,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191931.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191931.39,3642.7100,N,-12211.1559,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191932.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191932.39,3642.7097,N,-12211.1565,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191933.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191933.39,3642.7093,N,-12211.1569,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191934.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191934.39,3642.7089,N,-12211.1573,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191935.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191935.39,3642.7085,N,-12211.1576,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191936.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191936.39,3642.7080,N,-12211.1578,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191937.00,,,,,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,191937.39,3642.7075,N,-12211.1580,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191938.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191938.39,3642.7070,N,-12211.1580,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 850.001771 : TerrainNav update at dvl time = 850.001771 : _navData-> (x,y) = (4063208.67, 572702.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191939.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 850.00 : 35.00 : NMEA Update: $GPGGA,191939.39,3642.7065,N,-12211.1580,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : Estimated East Bias at time = 850.00 : 35.00 : Estimated Depth Bias at time = 850.00 : 0.00 : Estimated northing and easting = 4063243.67 : 572737.66 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191940.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191940.39,3642.7059,N,-12211.1579,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191941.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191941.39,3642.7055,N,-12211.1577,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191942.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191942.39,3642.7050,N,-12211.1574,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191943.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191943.39,3642.7046,N,-12211.1570,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,191944.00,,,,,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,191944.39,3642.7042,N,-12211.1566,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191945.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191945.39,3642.7038,N,-12211.1561,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191946.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191946.39,3642.7035,N,-12211.1555,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,191947.00,,,,,0,00,,,M,,M,,*4B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191947.39,3642.7033,N,-12211.1549,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,191948.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,191948.39,3642.7032,N,-12211.1543,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 860.001086 : TerrainNav update at dvl time = 860.001086 : _navData-> (x,y) = (4063202.05, 572708.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,191949.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 860.00 : 36.00 : Estimated East Bias at time = 860.00 : 36.00 : Estimated Depth Bias at time = 860.00 : 0.00 : Estimated northing and easting = 4063238.05 : 572744.59 : NMEA Update: $GPGGA,191949.39,3642.7032,N,-12211.1537,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191950.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191950.39,3642.7032,N,-12211.1530,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191951.00,,,,,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,191951.39,3642.7033,N,-12211.1524,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191952.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191952.39,3642.7035,N,-12211.1517,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191953.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191953.39,3642.7037,N,-12211.1511,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191954.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191954.39,3642.7040,N,-12211.1506,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,191955.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191955.39,3642.7044,N,-12211.1501,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : stat is 92230 : got a SAN packet : time:69637.679688 : lat:36.7118 lon:-122.1861 : slant range: 1.00 : SNR:16.000000 AGC:50 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71183 lon -122.18611 : AshtechGps::processRecord() - $GPGGA,191956.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191956.38,3642.7097,N,-12211.1666,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,191957.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191957.38,3642.7102,N,-12211.1662,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,191958.00,,,,,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,191958.38,3642.7106,N,-12211.1660,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4063216.03, 572690.85) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,191959.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,191959.38,3642.7111,N,-12211.1658,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 870.00 : 36.00 : Estimated East Bias at time = 870.00 : 36.00 : Estimated Depth Bias at time = 870.00 : 0.00 : Estimated northing and easting = 4063252.03 : 572726.85 : AshtechGps::processRecord() - $GPGGA,192000.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192000.38,3642.7116,N,-12211.1657,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192001.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192001.38,3642.7121,N,-12211.1656,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192002.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192002.38,3642.7126,N,-12211.1656,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192003.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192003.38,3642.7131,N,-12211.1658,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192004.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192004.38,3642.7136,N,-12211.1659,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192005.00,,,,,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,192005.38,3642.7141,N,-12211.1662,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192006.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192006.38,3642.7145,N,-12211.1665,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192007.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192007.38,3642.7149,N,-12211.1669,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192008.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192008.38,3642.7153,N,-12211.1673,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 879.999716 : TerrainNav update at dvl time = 879.999716 : _navData-> (x,y) = (4063224.63, 572688.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192009.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 880.00 : 36.00 : Estimated East Bias at time = 880.00 : 36.00 : Estimated Depth Bias at time = 880.00 : 0.00 : Estimated northing and easting = 4063260.63 : 572724.38 : NMEA Update: $GPGGA,192009.38,3642.7157,N,-12211.1678,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : 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,192010.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192010.38,3642.7160,N,-12211.1683,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192011.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192011.38,3642.7162,N,-12211.1689,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192012.00,,,,,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,192012.38,3642.7164,N,-12211.1694,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192013.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192013.38,3642.7166,N,-12211.1701,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192014.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192014.38,3642.7167,N,-12211.1707,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192015.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192015.38,3642.7167,N,-12211.1714,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192016.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192016.38,3642.7167,N,-12211.1721,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : 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,192017.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192017.38,3642.7166,N,-12211.1727,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192018.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192018.38,3642.7164,N,-12211.1734,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 889.999031 : TerrainNav update at dvl time = 889.999031 : _navData-> (x,y) = (4063226.08, 572679.26) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 890.00 : 37.00 : Estimated East Bias at time = 890.00 : 37.00 : AshtechGps::processRecord() - $GPGGA,192019.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 890.00 : 0.00 : Estimated northing and easting = 4063263.08 : 572716.26 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192019.38,3642.7161,N,-12211.1740,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,192020.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192020.38,3642.7158,N,-12211.1746,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192021.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192021.38,3642.7154,N,-12211.1751,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192022.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192022.38,3642.7150,N,-12211.1755,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192023.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192023.38,3642.7146,N,-12211.1759,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : 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,192024.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192024.38,3642.7141,N,-12211.1762,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192025.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192025.38,3642.7136,N,-12211.1764,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192026.00,,,,,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,192026.38,3642.7131,N,-12211.1765,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192027.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192027.38,3642.7126,N,-12211.1765,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192028.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192028.38,3642.7121,N,-12211.1765,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4063217.81, 572675.06) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 900.00 : 37.00 : Estimated East Bias at time = 900.00 : 37.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192029.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 900.00 : 0.00 : Estimated northing and easting = 4063254.81 : 572712.06 : NMEA Update: $GPGGA,192029.38,3642.7115,N,-12211.1764,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192030.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192030.38,3642.7110,N,-12211.1761,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : 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,192031.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192031.38,3642.7106,N,-12211.1758,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192032.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192032.38,3642.7101,N,-12211.1754,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192033.00,,,,,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,192033.38,3642.7098,N,-12211.1749,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192034.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192034.38,3642.7095,N,-12211.1744,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192035.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192035.38,3642.7092,N,-12211.1738,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192036.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192036.38,3642.7091,N,-12211.1732,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192037.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192037.38,3642.7090,N,-12211.1726,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192038.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192038.38,3642.7090,N,-12211.1719,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 909.997661 : TerrainNav update at dvl time = 909.997661 : _navData-> (x,y) = (4063212.61, 572682.29) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192039.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 910.00 : 37.00 : Estimated East Bias at time = 910.00 : 37.00 : Estimated Depth Bias at time = 910.00 : 0.00 : Estimated northing and easting = 4063249.61 : 572719.29 : NMEA Update: $GPGGA,192039.38,3642.7090,N,-12211.1713,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192040.00,,,,,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,192040.38,3642.7092,N,-12211.1706,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192041.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192041.38,3642.7094,N,-12211.1700,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192042.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192042.38,3642.7097,N,-12211.1695,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192043.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192043.38,3642.7100,N,-12211.1690,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192044.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192044.38,3642.7104,N,-12211.1686,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192045.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192045.38,3642.7108,N,-12211.1682,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192046.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192046.38,3642.7112,N,-12211.1679,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192047.00,,,,,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,192047.38,3642.7117,N,-12211.1676,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192048.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192048.38,3642.7122,N,-12211.1674,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 919.996976 : TerrainNav update at dvl time = 919.996976 : _navData-> (x,y) = (4063219.01, 572688.61) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192049.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 920.00 : 38.00 : Estimated East Bias at time = 920.00 : 38.00 : Estimated Depth Bias at time = 920.00 : 0.00 : Estimated northing and easting = 4063257.01 : 572726.61 : NMEA Update: $GPGGA,192049.38,3642.7127,N,-12211.1673,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192050.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192050.38,3642.7133,N,-12211.1673,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192051.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192051.38,3642.7138,N,-12211.1673,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192052.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192052.38,3642.7143,N,-12211.1674,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192053.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192053.38,3642.7148,N,-12211.1676,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192054.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192054.38,3642.7153,N,-12211.1679,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192055.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192055.38,3642.7157,N,-12211.1682,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192056.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192056.38,3642.7161,N,-12211.1686,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192057.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192057.38,3642.7165,N,-12211.1690,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192058.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192058.38,3642.7168,N,-12211.1695,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4063227.32, 572685.12) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 930.00 : 38.00 : Estimated East Bias at time = 930.00 : 38.00 : AshtechGps::processRecord() - $GPGGA,192059.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 930.00 : 0.00 : Estimated northing and easting = 4063265.32 : 572723.12 : NMEA Update: $GPGGA,192059.38,3642.7171,N,-12211.1700,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192100.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192100.38,3642.7173,N,-12211.1706,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192101.00,,,,,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,192101.38,3642.7175,N,-12211.1711,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192102.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192102.38,3642.7176,N,-12211.1717,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192103.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192103.38,3642.7177,N,-12211.1723,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192104.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192104.38,3642.7176,N,-12211.1729,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192105.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192105.38,3642.7176,N,-12211.1736,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192106.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192106.38,3642.7174,N,-12211.1742,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192107.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192107.38,3642.7173,N,-12211.1748,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192108.00,,,,,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,192108.38,3642.7170,N,-12211.1754,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 939.995606 : TerrainNav update at dvl time = 939.995606 : _navData-> (x,y) = (4063227.17, 572676.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192109.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 940.00 : 38.00 : Estimated East Bias at time = 940.00 : 38.00 : Estimated Depth Bias at time = 940.00 : 0.00 : Estimated northing and easting = 4063265.17 : 572714.31 : NMEA Update: $GPGGA,192109.38,3642.7167,N,-12211.1759,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192110.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192110.38,3642.7164,N,-12211.1764,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192111.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192111.38,3642.7160,N,-12211.1768,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192112.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192112.38,3642.7155,N,-12211.1771,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192113.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192113.38,3642.7151,N,-12211.1774,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192114.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192114.38,3642.7146,N,-12211.1776,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192115.00,,,,,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,192115.38,3642.7141,N,-12211.1777,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192116.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192116.38,3642.7136,N,-12211.1777,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192117.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192117.38,3642.7131,N,-12211.1776,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192118.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192118.38,3642.7126,N,-12211.1775,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainNav update at nav time = 949.994921 : TerrainNav update at dvl time = 949.994921 : _navData-> (x,y) = (4063218.85, 572673.75) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 949.99 : 39.00 : Estimated East Bias at time = 949.99 : 39.00 : Estimated Depth Bias at time = 949.99 : 0.00 : Estimated northing and easting = 4063257.85 : 572712.75 : AshtechGps::processRecord() - $GPGGA,192119.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192119.38,3642.7121,N,-12211.1772,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192120.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192120.39,3642.7117,N,-12211.1768,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192121.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192121.39,3642.7113,N,-12211.1764,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192122.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192122.39,3642.7110,N,-12211.1759,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192123.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192123.39,3642.7107,N,-12211.1754,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192124.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192124.39,3642.7104,N,-12211.1748,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192125.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192125.39,3642.7103,N,-12211.1742,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192126.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192126.39,3642.7102,N,-12211.1735,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192127.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192127.39,3642.7101,N,-12211.1729,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192128.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192128.39,3642.7102,N,-12211.1723,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4063214.85, 572681.73) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 959.99 : 39.00 : Estimated East Bias at time = 959.99 : 39.00 : Estimated Depth Bias at time = 959.99 : 0.00 : Estimated northing and easting = 4063253.85 : 572720.73 : AshtechGps::processRecord() - $GPGGA,192129.00,,,,,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,192129.39,3642.7103,N,-12211.1717,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192130.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192130.39,3642.7105,N,-12211.1711,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192131.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192131.39,3642.7108,N,-12211.1705,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192132.00,,,,,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,192132.39,3642.7111,N,-12211.1700,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192133.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192133.39,3642.7115,N,-12211.1696,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192134.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192134.39,3642.7119,N,-12211.1692,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192135.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192135.39,3642.7123,N,-12211.1689,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192136.00,,,,,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,192136.39,3642.7128,N,-12211.1686,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192137.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192137.39,3642.7134,N,-12211.1685,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192138.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192138.39,3642.7139,N,-12211.1683,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 969.993551 : TerrainNav update at dvl time = 969.993551 : _navData-> (x,y) = (4063222.03, 572687.18) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 969.99 : 39.00 : AshtechGps::processRecord() - $GPGGA,192139.00,,,,,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 : Estimated East Bias at time = 969.99 : 39.00 : Estimated Depth Bias at time = 969.99 : 0.00 : Estimated northing and easting = 4063261.03 : 572726.18 : NMEA Update: $GPGGA,192139.39,3642.7144,N,-12211.1683,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192140.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192140.39,3642.7149,N,-12211.1683,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192141.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192141.39,3642.7155,N,-12211.1684,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192142.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192142.39,3642.7160,N,-12211.1686,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192143.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192143.39,3642.7164,N,-12211.1688,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192144.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192144.39,3642.7169,N,-12211.1691,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192145.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192145.39,3642.7173,N,-12211.1694,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192146.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192146.39,3642.7177,N,-12211.1698,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192147.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192147.39,3642.7181,N,-12211.1703,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192148.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192148.39,3642.7184,N,-12211.1709,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 980.002865 : TerrainNav update at dvl time = 980.002865 : _navData-> (x,y) = (4063230.21, 572682.94) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 980.00 : 39.00 : Estimated East Bias at time = 980.00 : 39.00 : Estimated Depth Bias at time = 980.00 : 0.00 : Estimated northing and easting = 4063269.21 : 572721.94 : AshtechGps::processRecord() - $GPGGA,192149.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192149.39,3642.7187,N,-12211.1715,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192150.00,,,,,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,192150.39,3642.7189,N,-12211.1721,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192151.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192151.39,3642.7191,N,-12211.1727,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192152.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192152.39,3642.7191,N,-12211.1733,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192153.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192153.39,3642.7191,N,-12211.1740,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192154.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192154.39,3642.7191,N,-12211.1747,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192155.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192155.39,3642.7190,N,-12211.1753,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192156.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192156.39,3642.7188,N,-12211.1759,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : stat is 92230 : got a SAN packet : time:69758.335938 : lat:36.7119 lon:-122.1862 : slant range: 1.00 : SNR:17.400000 AGC:47 : AshtechGps::processRecord() - $GPGGA,192157.00,,,,,0,00,,,M,,M,,*41 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71194 lon -122.18616 : 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,192157.39,3642.7163,N,-12211.1701,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192158.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192158.39,3642.7160,N,-12211.1706,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4063225.33, 572683.45) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 990.00 : 39.00 : Estimated East Bias at time = 990.00 : 39.00 : Estimated Depth Bias at time = 990.00 : 0.00 : Estimated northing and easting = 4063264.33 : 572722.45 : AshtechGps::processRecord() - $GPGGA,192159.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192159.39,3642.7156,N,-12211.1711,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192200.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192200.39,3642.7152,N,-12211.1715,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192201.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192201.39,3642.7148,N,-12211.1718,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192202.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192202.39,3642.7143,N,-12211.1722,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192203.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192203.39,3642.7137,N,-12211.1724,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192204.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192204.39,3642.7132,N,-12211.1724,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192205.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192205.39,3642.7127,N,-12211.1725,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192206.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192206.39,3642.7121,N,-12211.1724,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192207.00,,,,,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,192207.39,3642.7116,N,-12211.1722,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192208.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192208.39,3642.7111,N,-12211.1719,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1000.001495 : TerrainNav update at dvl time = 1000.001495 : _navData-> (x,y) = (4063216.25, 572682.08) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1000.00 : 40.00 : Estimated East Bias at time = 1000.00 : 40.00 : Estimated Depth Bias at time = 1000.00 : 0.00 : Estimated northing and easting = 4063256.25 : 572722.08 : AshtechGps::processRecord() - $GPGGA,192209.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192209.39,3642.7107,N,-12211.1716,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192210.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192210.39,3642.7103,N,-12211.1711,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192211.00,,,,,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,192211.39,3642.7101,N,-12211.1706,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192212.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192212.39,3642.7098,N,-12211.1701,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192213.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192213.39,3642.7096,N,-12211.1695,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192214.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192214.39,3642.7095,N,-12211.1688,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192215.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192215.39,3642.7095,N,-12211.1682,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192216.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192216.39,3642.7095,N,-12211.1676,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192217.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192217.39,3642.7096,N,-12211.1669,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192218.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192218.39,3642.7098,N,-12211.1663,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainNav update at nav time = 1010.000810 : TerrainNav update at dvl time = 1010.000810 : _navData-> (x,y) = (4063214.26, 572690.58) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1010.00 : 40.00 : Estimated East Bias at time = 1010.00 : 40.00 : Estimated Depth Bias at time = 1010.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,192219.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063254.26 : 572730.58 : NMEA Update: $GPGGA,192219.39,3642.7100,N,-12211.1657,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192220.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192220.39,3642.7103,N,-12211.1652,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192221.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192221.39,3642.7106,N,-12211.1647,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192222.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192222.38,3642.7111,N,-12211.1643,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192223.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192223.38,3642.7115,N,-12211.1639,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192224.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192224.38,3642.7119,N,-12211.1636,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192225.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192225.38,3642.7124,N,-12211.1634,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192226.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192226.38,3642.7129,N,-12211.1633,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192227.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192227.38,3642.7134,N,-12211.1632,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192228.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192228.38,3642.7139,N,-12211.1633,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4063222.15, 572694.66) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192229.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192229.38,3642.7144,N,-12211.1633,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : Estimated North Bias at time = 1020.00 : 40.00 : Estimated East Bias at time = 1020.00 : 40.00 : Estimated Depth Bias at time = 1020.00 : 0.00 : Estimated northing and easting = 4063262.15 : 572734.66 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192230.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192230.38,3642.7149,N,-12211.1635,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192231.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192231.38,3642.7154,N,-12211.1637,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192232.00,,,,,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,192232.38,3642.7158,N,-12211.1640,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192233.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192233.38,3642.7162,N,-12211.1643,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192234.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192234.38,3642.7166,N,-12211.1647,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192235.00,,,,,0,00,,,M,,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192235.38,3642.7170,N,-12211.1652,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192236.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192236.38,3642.7174,N,-12211.1657,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192237.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192237.38,3642.7176,N,-12211.1663,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192238.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192238.38,3642.7179,N,-12211.1669,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 1029.999440 : TerrainNav update at dvl time = 1029.999440 : _navData-> (x,y) = (4063229.17, 572688.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192239.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1030.00 : 40.00 : Estimated East Bias at time = 1030.00 : 40.00 : Estimated Depth Bias at time = 1030.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192239.38,3642.7180,N,-12211.1674,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : Estimated northing and easting = 4063269.17 : 572728.94 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192240.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192240.38,3642.7181,N,-12211.1681,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192241.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192241.38,3642.7180,N,-12211.1689,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192242.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192242.38,3642.7180,N,-12211.1695,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192243.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192243.38,3642.7179,N,-12211.1702,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192244.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192244.38,3642.7178,N,-12211.1708,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192245.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192245.38,3642.7176,N,-12211.1715,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192246.00,,,,,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,192246.38,3642.7173,N,-12211.1720,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192247.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192247.38,3642.7170,N,-12211.1726,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192248.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192248.38,3642.7166,N,-12211.1730,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 1039.998755 : TerrainNav update at dvl time = 1039.998755 : _navData-> (x,y) = (4063226.35, 572679.90) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192249.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192249.38,3642.7162,N,-12211.1734,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : Estimated North Bias at time = 1040.00 : 40.00 : Estimated East Bias at time = 1040.00 : 40.00 : Estimated Depth Bias at time = 1040.00 : 0.00 : Estimated northing and easting = 4063266.35 : 572719.90 : AshtechGps::processRecord() - $GPGGA,192250.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192250.38,3642.7157,N,-12211.1737,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192251.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192251.38,3642.7152,N,-12211.1739,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192252.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192252.38,3642.7147,N,-12211.1741,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192253.00,,,,,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,192253.38,3642.7142,N,-12211.1742,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192254.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192254.38,3642.7136,N,-12211.1742,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192255.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192255.38,3642.7131,N,-12211.1740,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192256.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192256.38,3642.7126,N,-12211.1738,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192257.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192257.38,3642.7122,N,-12211.1735,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192258.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192258.38,3642.7117,N,-12211.1732,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4063217.37, 572680.24) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192259.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192259.38,3642.7113,N,-12211.1728,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated North Bias at time = 1050.00 : 40.00 : Estimated East Bias at time = 1050.00 : 40.00 : Estimated Depth Bias at time = 1050.00 : 0.00 : Estimated northing and easting = 4063257.37 : 572720.24 : AshtechGps::processRecord() - $GPGGA,192300.00,,,,,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,192300.38,3642.7110,N,-12211.1723,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192301.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192301.38,3642.7108,N,-12211.1717,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192302.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192302.38,3642.7106,N,-12211.1711,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192303.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192303.38,3642.7105,N,-12211.1705,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192304.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192304.38,3642.7104,N,-12211.1699,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : 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,192305.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192305.38,3642.7105,N,-12211.1692,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192306.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192306.38,3642.7106,N,-12211.1685,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192307.00,,,,,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,192307.38,3642.7108,N,-12211.1679,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192308.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192308.38,3642.7110,N,-12211.1674,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1059.997385 : TerrainNav update at dvl time = 1059.997385 : _navData-> (x,y) = (4063216.62, 572688.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192309.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192309.38,3642.7113,N,-12211.1669,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated North Bias at time = 1060.00 : 41.00 : Estimated East Bias at time = 1060.00 : 41.00 : Estimated Depth Bias at time = 1060.00 : 0.00 : Estimated northing and easting = 4063257.62 : 572729.89 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192310.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192310.38,3642.7117,N,-12211.1664,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192311.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192311.38,3642.7121,N,-12211.1660,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192312.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192312.38,3642.7125,N,-12211.1656,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192313.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192313.38,3642.7129,N,-12211.1653,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192314.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192314.38,3642.7135,N,-12211.1651,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192315.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192315.38,3642.7140,N,-12211.1649,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192316.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192316.38,3642.7145,N,-12211.1648,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192317.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192317.38,3642.7150,N,-12211.1648,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192318.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192318.38,3642.7155,N,-12211.1648,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1069.996700 : TerrainNav update at dvl time = 1069.996700 : _navData-> (x,y) = (4063225.13, 572692.30) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192319.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192319.38,3642.7160,N,-12211.1650,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : Estimated North Bias at time = 1070.00 : 41.00 : Estimated East Bias at time = 1070.00 : 41.00 : Estimated Depth Bias at time = 1070.00 : 0.00 : Estimated northing and easting = 4063266.13 : 572733.30 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192320.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192320.38,3642.7165,N,-12211.1652,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192321.00,,,,,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,192321.38,3642.7170,N,-12211.1655,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192322.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192322.38,3642.7174,N,-12211.1658,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192323.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192323.38,3642.7178,N,-12211.1662,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192324.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192324.38,3642.7182,N,-12211.1667,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192325.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192325.38,3642.7186,N,-12211.1672,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : 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,192326.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192326.38,3642.7189,N,-12211.1677,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192327.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192327.38,3642.7192,N,-12211.1683,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192328.00,,,,,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,192328.38,3642.7194,N,-12211.1689,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4063231.91, 572685.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1080.00 : 41.00 : AshtechGps::processRecord() - $GPGGA,192329.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 1080.00 : 41.00 : Estimated Depth Bias at time = 1080.00 : 0.00 : Estimated northing and easting = 4063272.91 : 572726.88 : NMEA Update: $GPGGA,192329.38,3642.7195,N,-12211.1695,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192330.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192330.38,3642.7196,N,-12211.1702,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192331.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192331.38,3642.7196,N,-12211.1708,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192332.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192332.38,3642.7196,N,-12211.1715,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192333.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192333.38,3642.7195,N,-12211.1721,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192334.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192334.38,3642.7193,N,-12211.1727,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,192335.00,,,,,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,192335.38,3642.7190,N,-12211.1733,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192336.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192336.38,3642.7187,N,-12211.1738,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192337.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192337.38,3642.7183,N,-12211.1742,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192338.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192338.38,3642.7179,N,-12211.1746,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 1089.995330 : TerrainNav update at dvl time = 1089.995330 : _navData-> (x,y) = (4063228.75, 572677.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192339.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1090.00 : 41.00 : Estimated East Bias at time = 1090.00 : 41.00 : Estimated Depth Bias at time = 1090.00 : 0.00 : Estimated northing and easting = 4063269.75 : 572718.51 : NMEA Update: $GPGGA,192339.38,3642.7175,N,-12211.1750,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192340.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192340.38,3642.7170,N,-12211.1752,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192341.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192341.38,3642.7165,N,-12211.1754,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192342.00,,,,,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,192342.38,3642.7160,N,-12211.1755,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192343.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192343.38,3642.7155,N,-12211.1755,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192344.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192344.38,3642.7151,N,-12211.1754,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192345.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192345.38,3642.7146,N,-12211.1752,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192346.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192346.39,3642.7141,N,-12211.1749,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192347.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192347.39,3642.7137,N,-12211.1746,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192348.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192348.39,3642.7133,N,-12211.1742,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 1099.994645 : TerrainNav update at dvl time = 1099.994645 : _navData-> (x,y) = (4063220.34, 572678.76) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1099.99 : 42.00 : Estimated East Bias at time = 1099.99 : 42.00 : Estimated Depth Bias at time = 1099.99 : 0.00 : Estimated northing and easting = 4063262.34 : 572720.76 : AshtechGps::processRecord() - $GPGGA,192349.00,,,,,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,192349.39,3642.7130,N,-12211.1737,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192350.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192350.39,3642.7127,N,-12211.1732,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192351.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192351.39,3642.7125,N,-12211.1726,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192352.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192352.39,3642.7124,N,-12211.1720,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192353.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192353.39,3642.7123,N,-12211.1714,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192354.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192354.39,3642.7123,N,-12211.1707,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192355.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192355.39,3642.7125,N,-12211.1701,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192356.00,,,,,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,192356.39,3642.7126,N,-12211.1695,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : stat is 92230 : got a SAN packet : time:69878.804688 : lat:36.7121 lon:-122.1863 : slant range: 1.00 : SNR:15.800000 AGC:53 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71208 lon -122.18632 : AshtechGps::processRecord() - $GPGGA,192357.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192357.39,3642.7250,N,-12211.1788,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : 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,192358.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192358.39,3642.7253,N,-12211.1783,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4063242.86, 572672.53) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192359.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192359.39,3642.7256,N,-12211.1777,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : Estimated North Bias at time = 1109.99 : 41.00 : Estimated East Bias at time = 1109.99 : 41.00 : Estimated Depth Bias at time = 1109.99 : 0.00 : Estimated northing and easting = 4063283.86 : 572713.53 : AshtechGps::processRecord() - $GPGGA,192400.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192400.39,3642.7259,N,-12211.1773,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192401.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192401.39,3642.7263,N,-12211.1770,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192402.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192402.39,3642.7268,N,-12211.1766,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192403.00,,,,,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,192403.39,3642.7273,N,-12211.1764,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192404.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192404.39,3642.7278,N,-12211.1762,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192405.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192405.39,3642.7284,N,-12211.1761,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192406.00,,,,,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,192406.39,3642.7289,N,-12211.1760,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192407.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192407.39,3642.7295,N,-12211.1760,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192408.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192408.39,3642.7301,N,-12211.1761,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 1119.993275 : TerrainNav update at dvl time = 1119.993275 : _navData-> (x,y) = (4063251.93, 572675.24) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192409.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192409.39,3642.7306,N,-12211.1763,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : Estimated North Bias at time = 1119.99 : 41.00 : Estimated East Bias at time = 1119.99 : 41.00 : Estimated Depth Bias at time = 1119.99 : 0.00 : Estimated northing and easting = 4063292.93 : 572716.24 : AshtechGps::processRecord() - $GPGGA,192410.00,,,,,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,192410.39,3642.7311,N,-12211.1765,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192411.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192411.39,3642.7316,N,-12211.1768,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192412.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192412.39,3642.7321,N,-12211.1772,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192413.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192413.39,3642.7325,N,-12211.1777,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192414.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192414.39,3642.7329,N,-12211.1782,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192415.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192415.39,3642.7332,N,-12211.1787,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : 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,192416.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192416.39,3642.7335,N,-12211.1793,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192417.00,,,,,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,192417.39,3642.7337,N,-12211.1799,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192418.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192418.39,3642.7338,N,-12211.1805,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1130.002589 : TerrainNav update at dvl time = 1130.002589 : _navData-> (x,y) = (4063258.47, 572668.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192419.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192419.39,3642.7339,N,-12211.1810,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : Estimated North Bias at time = 1130.00 : 41.00 : Estimated East Bias at time = 1130.00 : 41.00 : Estimated Depth Bias at time = 1130.00 : 0.00 : Estimated northing and easting = 4063299.47 : 572709.44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192420.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192420.39,3642.7339,N,-12211.1817,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192421.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192421.39,3642.7338,N,-12211.1823,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192422.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192422.39,3642.7337,N,-12211.1829,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192423.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192423.39,3642.7335,N,-12211.1835,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192424.00,,,,,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,192424.39,3642.7333,N,-12211.1840,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192425.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192425.39,3642.7329,N,-12211.1846,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192426.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192426.39,3642.7326,N,-12211.1850,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192427.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192427.39,3642.7322,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192428.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192428.39,3642.7317,N,-12211.1859,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1140.001904 : TerrainNav update at dvl time = 1140.001904 : _navData-> (x,y) = (4063254.07, 572660.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1140.00 : 41.00 : Estimated East Bias at time = 1140.00 : 41.00 : Estimated Depth Bias at time = 1140.00 : 0.00 : Estimated northing and easting = 4063295.07 : 572701.56 : AshtechGps::processRecord() - $GPGGA,192429.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192429.39,3642.7312,N,-12211.1861,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192430.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192430.39,3642.7307,N,-12211.1863,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192431.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192431.39,3642.7302,N,-12211.1864,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192432.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192432.39,3642.7297,N,-12211.1864,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192433.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192433.39,3642.7292,N,-12211.1863,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192434.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192434.39,3642.7287,N,-12211.1861,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192435.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192435.39,3642.7283,N,-12211.1858,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192436.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192436.39,3642.7278,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192437.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192437.39,3642.7274,N,-12211.1850,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192438.00,,,,,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,192438.39,3642.7271,N,-12211.1845,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 1150.001220 : TerrainNav update at dvl time = 1150.001220 : _navData-> (x,y) = (4063245.67, 572663.17) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1150.00 : 41.00 : Estimated East Bias at time = 1150.00 : 41.00 : Estimated Depth Bias at time = 1150.00 : 0.00 : Estimated northing and easting = 4063286.67 : 572704.17 : AshtechGps::processRecord() - $GPGGA,192439.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192439.39,3642.7268,N,-12211.1840,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192440.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192440.39,3642.7266,N,-12211.1834,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192441.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192441.39,3642.7264,N,-12211.1828,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192442.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192442.39,3642.7264,N,-12211.1821,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192443.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192443.39,3642.7264,N,-12211.1814,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192444.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192444.39,3642.7264,N,-12211.1808,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192445.00,,,,,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,192445.39,3642.7266,N,-12211.1801,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192446.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192446.39,3642.7268,N,-12211.1795,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192447.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192447.39,3642.7270,N,-12211.1790,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192448.00,,,,,0,00,,,M,,M,,*4A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192448.38,3642.7274,N,-12211.1785,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 1160.000535 : TerrainNav update at dvl time = 1160.000535 : _navData-> (x,y) = (4063246.76, 572672.04) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1160.00 : 41.00 : AshtechGps::processRecord() - $GPGGA,192449.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 1160.00 : 41.00 : Estimated Depth Bias at time = 1160.00 : 0.00 : Estimated northing and easting = 4063287.76 : 572713.04 : NMEA Update: $GPGGA,192449.38,3642.7278,N,-12211.1781,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192450.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192450.38,3642.7282,N,-12211.1777,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192451.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192451.38,3642.7286,N,-12211.1773,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192452.00,,,,,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,192452.38,3642.7291,N,-12211.1771,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192453.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192453.38,3642.7296,N,-12211.1769,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192454.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192454.38,3642.7301,N,-12211.1768,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192455.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192455.38,3642.7306,N,-12211.1768,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192456.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192456.38,3642.7311,N,-12211.1768,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192457.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192457.38,3642.7316,N,-12211.1769,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192458.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192458.38,3642.7321,N,-12211.1771,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainNav update at nav time = 1169.999850 : TerrainNav update at dvl time = 1169.999850 : _navData-> (x,y) = (4063255.63, 572673.75) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192459.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1170.00 : 41.00 : Estimated East Bias at time = 1170.00 : 41.00 : Estimated Depth Bias at time = 1170.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192459.38,3642.7326,N,-12211.1773,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : Estimated northing and easting = 4063296.63 : 572714.75 : AshtechGps::processRecord() - $GPGGA,192500.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192500.38,3642.7330,N,-12211.1776,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192501.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192501.38,3642.7334,N,-12211.1780,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192502.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192502.38,3642.7338,N,-12211.1784,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192503.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192503.38,3642.7341,N,-12211.1789,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192504.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192504.38,3642.7344,N,-12211.1794,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192505.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192505.38,3642.7346,N,-12211.1800,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192506.00,,,,,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,192506.38,3642.7348,N,-12211.1806,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192507.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192507.38,3642.7349,N,-12211.1812,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192508.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192508.38,3642.7350,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 1179.999165 : TerrainNav update at dvl time = 1179.999165 : _navData-> (x,y) = (4063260.48, 572666.35) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1180.00 : 42.00 : Estimated East Bias at time = 1180.00 : 42.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192509.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 1180.00 : 0.00 : Estimated northing and easting = 4063302.48 : 572708.35 : NMEA Update: $GPGGA,192509.38,3642.7349,N,-12211.1825,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192510.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192510.38,3642.7349,N,-12211.1831,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192511.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192511.38,3642.7347,N,-12211.1838,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192512.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192512.38,3642.7345,N,-12211.1844,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192513.00,,,,,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,192513.38,3642.7343,N,-12211.1850,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192514.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192514.38,3642.7340,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192515.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192515.38,3642.7336,N,-12211.1859,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192516.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192516.38,3642.7332,N,-12211.1863,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192517.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192517.38,3642.7328,N,-12211.1867,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192518.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192518.38,3642.7323,N,-12211.1870,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainNav update at nav time = 1189.998480 : TerrainNav update at dvl time = 1189.998480 : _navData-> (x,y) = (4063255.12, 572658.94) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1190.00 : 42.00 : AshtechGps::processRecord() - $GPGGA,192519.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 1190.00 : 42.00 : Estimated Depth Bias at time = 1190.00 : 0.00 : Estimated northing and easting = 4063297.12 : 572700.94 : NMEA Update: $GPGGA,192519.38,3642.7318,N,-12211.1872,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192520.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192520.38,3642.7313,N,-12211.1873,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192521.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192521.38,3642.7308,N,-12211.1873,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192522.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192522.38,3642.7303,N,-12211.1872,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192523.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192523.38,3642.7297,N,-12211.1869,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192524.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192524.38,3642.7292,N,-12211.1867,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192525.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192525.38,3642.7287,N,-12211.1864,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192526.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192526.38,3642.7283,N,-12211.1860,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192527.00,,,,,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,192527.38,3642.7280,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192528.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192528.38,3642.7277,N,-12211.1849,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1199.997795 : TerrainNav update at dvl time = 1199.997795 : _navData-> (x,y) = (4063246.84, 572662.59) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1200.00 : 42.00 : Estimated East Bias at time = 1200.00 : 42.00 : AshtechGps::processRecord() - $GPGGA,192529.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 1200.00 : 0.00 : Estimated northing and easting = 4063288.84 : 572704.59 : NMEA Update: $GPGGA,192529.38,3642.7275,N,-12211.1843,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192530.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192530.38,3642.7273,N,-12211.1837,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192531.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192531.38,3642.7272,N,-12211.1831,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192532.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192532.38,3642.7272,N,-12211.1825,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192533.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192533.38,3642.7273,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192534.00,,,,,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,192534.38,3642.7275,N,-12211.1812,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192535.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192535.38,3642.7277,N,-12211.1806,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192536.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192536.38,3642.7279,N,-12211.1801,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192537.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192537.38,3642.7282,N,-12211.1796,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192538.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192538.38,3642.7286,N,-12211.1792,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1209.997109 : TerrainNav update at dvl time = 1209.997109 : _navData-> (x,y) = (4063249.06, 572671.01) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192539.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1210.00 : 42.00 : Estimated East Bias at time = 1210.00 : 42.00 : Estimated Depth Bias at time = 1210.00 : 0.00 : Estimated northing and easting = 4063291.06 : 572713.01 : NMEA Update: $GPGGA,192539.38,3642.7290,N,-12211.1788,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192540.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192540.38,3642.7295,N,-12211.1785,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192541.00,,,,,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,192541.38,3642.7299,N,-12211.1783,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192542.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192542.38,3642.7304,N,-12211.1782,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192543.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192543.38,3642.7310,N,-12211.1781,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192544.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192544.38,3642.7315,N,-12211.1781,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192545.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192545.38,3642.7320,N,-12211.1781,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192546.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192546.38,3642.7325,N,-12211.1783,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192547.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192547.38,3642.7330,N,-12211.1785,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192548.00,,,,,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,192548.38,3642.7334,N,-12211.1787,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 1219.996424 : TerrainNav update at dvl time = 1219.996424 : _navData-> (x,y) = (4063258.02, 572671.20) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192549.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1220.00 : 43.00 : Estimated East Bias at time = 1220.00 : 43.00 : NMEA Update: $GPGGA,192549.38,3642.7339,N,-12211.1791,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : Estimated Depth Bias at time = 1220.00 : 0.00 : Estimated northing and easting = 4063301.02 : 572714.20 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192550.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192550.38,3642.7343,N,-12211.1794,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192551.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192551.38,3642.7346,N,-12211.1799,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192552.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192552.38,3642.7350,N,-12211.1804,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192553.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192553.38,3642.7352,N,-12211.1809,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192554.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192554.38,3642.7355,N,-12211.1815,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192555.00,,,,,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,192555.38,3642.7356,N,-12211.1821,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192556.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192556.38,3642.7358,N,-12211.1827,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192557.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192557.38,3642.7358,N,-12211.1834,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : stat is 92230 : got a SAN packet : time:69999.703125 : lat:36.7120 lon:-122.1864 : slant range: 1.00 : SNR:17.100000 AGC:47 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71204 lon -122.18636 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192558.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192558.38,3642.7222,N,-12211.1820,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 1229.995739 : TerrainNav update at dvl time = 1229.995739 : _navData-> (x,y) = (4063236.78, 572666.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192559.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192559.38,3642.7221,N,-12211.1827,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1230.00 : 42.00 : Estimated East Bias at time = 1230.00 : 42.00 : Estimated Depth Bias at time = 1230.00 : 0.00 : Estimated northing and easting = 4063278.78 : 572708.24 : AshtechGps::processRecord() - $GPGGA,192600.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192600.38,3642.7220,N,-12211.1833,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192601.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192601.38,3642.7218,N,-12211.1839,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192602.00,,,,,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,192602.38,3642.7215,N,-12211.1845,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192603.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192603.38,3642.7212,N,-12211.1850,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192604.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192604.38,3642.7209,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192605.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192605.38,3642.7205,N,-12211.1859,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192606.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192606.38,3642.7200,N,-12211.1862,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : 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,192607.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192607.38,3642.7195,N,-12211.1865,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192608.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192608.38,3642.7190,N,-12211.1866,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 1239.995054 : TerrainNav update at dvl time = 1239.995054 : _navData-> (x,y) = (4063230.60, 572659.76) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192609.00,,,,,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,192609.38,3642.7185,N,-12211.1867,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : Estimated North Bias at time = 1240.00 : 43.00 : Estimated East Bias at time = 1240.00 : 43.00 : Estimated Depth Bias at time = 1240.00 : 0.00 : Estimated northing and easting = 4063273.60 : 572702.76 : AshtechGps::processRecord() - $GPGGA,192610.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192610.38,3642.7180,N,-12211.1868,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192611.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192611.38,3642.7175,N,-12211.1867,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192612.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192612.19,3642.7171,N,-12211.1866,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192613.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192613.19,3642.7166,N,-12211.1863,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : 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,192614.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192614.19,3642.7161,N,-12211.1859,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192615.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192615.19,3642.7157,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192616.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192616.19,3642.7153,N,-12211.1850,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192617.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192617.19,3642.7149,N,-12211.1845,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192618.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192618.19,3642.7147,N,-12211.1839,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 1249.994370 : TerrainNav update at dvl time = 1249.994370 : _navData-> (x,y) = (4063222.78, 572664.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192619.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192619.19,3642.7145,N,-12211.1832,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : Estimated North Bias at time = 1249.99 : 43.00 : Estimated East Bias at time = 1249.99 : 43.00 : Estimated Depth Bias at time = 1249.99 : 0.00 : Estimated northing and easting = 4063265.78 : 572707.58 : AshtechGps::processRecord() - $GPGGA,192620.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192620.19,3642.7145,N,-12211.1826,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : 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,192621.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192621.19,3642.7145,N,-12211.1820,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192622.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192622.19,3642.7145,N,-12211.1814,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192623.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192623.19,3642.7147,N,-12211.1807,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192624.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192624.19,3642.7149,N,-12211.1802,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192625.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192625.19,3642.7152,N,-12211.1796,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192626.00,,,,,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,192626.19,3642.7155,N,-12211.1791,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192627.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192627.19,3642.7159,N,-12211.1787,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192628.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192628.19,3642.7163,N,-12211.1783,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainNav update at nav time = 1259.993685 : TerrainNav update at dvl time = 1259.993685 : _navData-> (x,y) = (4063226.60, 572672.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192629.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192629.19,3642.7169,N,-12211.1779,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : Estimated North Bias at time = 1259.99 : 43.00 : Estimated East Bias at time = 1259.99 : 43.00 : Estimated Depth Bias at time = 1259.99 : 0.00 : Estimated northing and easting = 4063269.60 : 572715.52 : AshtechGps::processRecord() - $GPGGA,192630.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192630.19,3642.7174,N,-12211.1775,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192631.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192631.19,3642.7179,N,-12211.1773,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192632.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192632.19,3642.7184,N,-12211.1772,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192633.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192633.19,3642.7190,N,-12211.1772,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192634.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192634.19,3642.7195,N,-12211.1773,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192635.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192635.19,3642.7201,N,-12211.1774,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192636.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192636.19,3642.7206,N,-12211.1776,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192637.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192637.19,3642.7210,N,-12211.1779,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192638.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192638.19,3642.7215,N,-12211.1782,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1270.002999 : TerrainNav update at dvl time = 1270.002999 : _navData-> (x,y) = (4063236.08, 572672.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192639.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192639.19,3642.7219,N,-12211.1786,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : Estimated North Bias at time = 1270.00 : 43.00 : Estimated East Bias at time = 1270.00 : 43.00 : Estimated Depth Bias at time = 1270.00 : 0.00 : Estimated northing and easting = 4063279.08 : 572715.02 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192640.19,3642.7223,N,-12211.1790,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192640.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,192641.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192641.19,3642.7226,N,-12211.1796,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192642.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192642.19,3642.7229,N,-12211.1801,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192643.00,,,,,0,00,,,M,,M,,*43 : NMEA Update: $GPGGA,192643.19,3642.7232,N,-12211.1807,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192644.19,3642.7234,N,-12211.1813,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192644.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192645.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192645.19,3642.7235,N,-12211.1819,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : 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,192646.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192646.19,3642.7235,N,-12211.1826,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192647.19,3642.7235,N,-12211.1832,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192647.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192648.19,3642.7235,N,-12211.1838,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192648.00,,,,,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 : TerrainNav update at nav time = 1280.002314 : TerrainNav update at dvl time = 1280.002314 : _navData-> (x,y) = (4063239.06, 572663.40) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1280.00 : 43.00 : Estimated East Bias at time = 1280.00 : 43.00 : Estimated Depth Bias at time = 1280.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,192649.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192649.19,3642.7233,N,-12211.1844,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : Estimated northing and easting = 4063282.06 : 572706.40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192650.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192650.19,3642.7232,N,-12211.1851,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192651.00,,,,,0,00,,,M,,M,,*40 : NMEA Update: $GPGGA,192651.19,3642.7229,N,-12211.1856,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : 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,192652.19,3642.7226,N,-12211.1861,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192652.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192653.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192653.19,3642.7223,N,-12211.1866,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192654.00,,,,,0,00,,,M,,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192654.19,3642.7218,N,-12211.1869,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : NMEA Update: $GPGGA,192655.19,3642.7214,N,-12211.1872,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192655.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192656.19,3642.7210,N,-12211.1875,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192656.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192657.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192657.19,3642.7205,N,-12211.1876,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192658.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192658.19,3642.7200,N,-12211.1877,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4063232.17, 572658.18) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1290.00 : 43.00 : Estimated East Bias at time = 1290.00 : 43.00 : Estimated Depth Bias at time = 1290.00 : 0.00 : Estimated northing and easting = 4063275.17 : 572701.18 : NMEA Update: $GPGGA,192659.19,3642.7195,N,-12211.1877,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192659.00,,,,,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,192700.19,3642.7190,N,-12211.1876,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192700.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192701.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192701.19,3642.7185,N,-12211.1874,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : NMEA Update: $GPGGA,192702.19,3642.7181,N,-12211.1871,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192702.00,,,,,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,192703.19,3642.7177,N,-12211.1867,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192703.00,,,,,0,00,,,M,,M,,*46 : 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,192704.19,3642.7173,N,-12211.1863,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192704.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,192705.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192705.19,3642.7170,N,-12211.1858,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192706.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192706.19,3642.7167,N,-12211.1853,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192707.19,3642.7165,N,-12211.1847,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192707.00,,,,,0,00,,,M,,M,,*42 : 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,192708.19,3642.7164,N,-12211.1841,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192708.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1300.000944 : TerrainNav update at dvl time = 1300.000944 : _navData-> (x,y) = (4063226.16, 572664.28) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1300.00 : 44.00 : Estimated East Bias at time = 1300.00 : 44.00 : Estimated Depth Bias at time = 1300.00 : 0.00 : Estimated northing and easting = 4063270.16 : 572708.28 : AshtechGps::processRecord() - $GPGGA,192709.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192709.19,3642.7164,N,-12211.1834,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192710.19,3642.7164,N,-12211.1828,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192710.00,,,,,0,00,,,M,,M,,*44 : 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,192711.19,3642.7165,N,-12211.1821,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,192711.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192712.19,3642.7167,N,-12211.1815,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192712.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,192713.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192713.19,3642.7169,N,-12211.1809,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192714.18,3642.7172,N,-12211.1804,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192714.00,,,,,0,00,,,M,,M,,*40 : 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,192715.18,3642.7176,N,-12211.1799,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192715.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192716.18,3642.7179,N,-12211.1794,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192716.00,,,,,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,192717.18,3642.7184,N,-12211.1791,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192717.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192718.18,3642.7188,N,-12211.1788,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192718.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1310.000259 : TerrainNav update at dvl time = 1310.000259 : _navData-> (x,y) = (4063231.26, 572671.76) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1310.00 : 44.00 : NMEA Update: $GPGGA,192719.18,3642.7193,N,-12211.1785,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192719.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 1310.00 : 44.00 : Estimated Depth Bias at time = 1310.00 : 0.00 : Estimated northing and easting = 4063275.26 : 572715.76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192720.18,3642.7198,N,-12211.1784,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192720.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,192721.00,,,,,0,00,,,M,,M,,*46 : NMEA Update: $GPGGA,192721.18,3642.7203,N,-12211.1783,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : 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,192722.18,3642.7208,N,-12211.1783,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192722.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192723.18,3642.7214,N,-12211.1783,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192723.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192724.18,3642.7219,N,-12211.1784,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192724.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192725.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192725.18,3642.7224,N,-12211.1785,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192726.18,3642.7229,N,-12211.1788,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192726.00,,,,,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,192727.18,3642.7233,N,-12211.1792,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192727.00,,,,,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,192728.18,3642.7237,N,-12211.1796,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192728.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1319.999574 : TerrainNav update at dvl time = 1319.999574 : _navData-> (x,y) = (4063240.16, 572669.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192729.18,3642.7241,N,-12211.1800,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192729.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1320.00 : 44.00 : Estimated East Bias at time = 1320.00 : 44.00 : Estimated Depth Bias at time = 1320.00 : 0.00 : Estimated northing and easting = 4063284.16 : 572713.84 : NMEA Update: $GPGGA,192730.18,3642.7244,N,-12211.1805,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192730.00,,,,,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,192731.18,3642.7247,N,-12211.1811,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192731.00,,,,,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,192732.18,3642.7249,N,-12211.1817,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192732.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192733.00,,,,,0,00,,,M,,M,,*45 : NMEA Update: $GPGGA,192733.18,3642.7251,N,-12211.1823,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : 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,192734.18,3642.7252,N,-12211.1829,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192734.00,,,,,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,192735.18,3642.7252,N,-12211.1835,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192735.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192736.18,3642.7252,N,-12211.1842,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192736.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192737.18,3642.7251,N,-12211.1848,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192737.00,,,,,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,192738.18,3642.7250,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192738.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1329.998889 : TerrainNav update at dvl time = 1329.998889 : _navData-> (x,y) = (4063241.74, 572660.94) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192739.18,3642.7248,N,-12211.1861,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192739.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1330.00 : 44.00 : Estimated East Bias at time = 1330.00 : 44.00 : Estimated Depth Bias at time = 1330.00 : 0.00 : Estimated northing and easting = 4063285.74 : 572704.94 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192740.18,3642.7245,N,-12211.1866,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192740.00,,,,,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,192741.18,3642.7242,N,-12211.1871,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192741.00,,,,,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,192742.18,3642.7238,N,-12211.1875,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192742.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192743.18,3642.7234,N,-12211.1879,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192743.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192744.18,3642.7229,N,-12211.1882,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192744.00,,,,,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,192745.18,3642.7224,N,-12211.1885,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192745.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192746.18,3642.7219,N,-12211.1886,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192746.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192747.18,3642.7214,N,-12211.1886,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192747.00,,,,,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,192748.18,3642.7209,N,-12211.1886,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192748.00,,,,,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 : TerrainNav update at nav time = 1339.998204 : TerrainNav update at dvl time = 1339.998204 : _navData-> (x,y) = (4063233.75, 572656.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,192749.18,3642.7204,N,-12211.1885,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192749.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1340.00 : 45.00 : Estimated East Bias at time = 1340.00 : 45.00 : Estimated Depth Bias at time = 1340.00 : 0.00 : Estimated northing and easting = 4063278.75 : 572701.98 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192750.18,3642.7199,N,-12211.1883,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192750.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192751.18,3642.7194,N,-12211.1880,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,192751.00,,,,,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,192752.18,3642.7190,N,-12211.1876,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192752.00,,,,,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,192753.18,3642.7185,N,-12211.1871,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192753.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192754.18,3642.7182,N,-12211.1866,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192754.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192755.18,3642.7179,N,-12211.1860,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192755.00,,,,,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,192756.18,3642.7176,N,-12211.1854,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192756.00,,,,,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,192757.18,3642.7175,N,-12211.1848,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192757.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192758.18,3642.7175,N,-12211.1841,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192758.00,,,,,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 : TerrainNav update at nav time = 1349.997519 : TerrainNav update at dvl time = 1349.997519 : _navData-> (x,y) = (4063228.17, 572664.21) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1350.00 : 45.00 : Estimated East Bias at time = 1350.00 : 45.00 : Estimated Depth Bias at time = 1350.00 : 0.00 : NMEA Update: $GPGGA,192759.18,3642.7175,N,-12211.1835,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192759.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063273.17 : 572709.21 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192800.18,3642.7177,N,-12211.1828,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192800.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192801.18,3642.7178,N,-12211.1821,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192801.00,,,,,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,192802.18,3642.7181,N,-12211.1815,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192802.00,,,,,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,192803.18,3642.7183,N,-12211.1809,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192803.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : stat is 92230 : got a SAN packet : time:70125.664062 : lat:36.7122 lon:-122.1864 : slant range: 1.00 : SNR:15.200000 AGC:53 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71217 lon -122.18636 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192804.18,3642.7305,N,-12211.1817,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192804.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192805.18,3642.7309,N,-12211.1813,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192805.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192806.18,3642.7313,N,-12211.1809,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192806.00,,,,,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,192807.18,3642.7318,N,-12211.1806,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192807.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192808.18,3642.7323,N,-12211.1804,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192808.00,,,,,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 : TerrainNav update at nav time = 1359.996834 : TerrainNav update at dvl time = 1359.996834 : _navData-> (x,y) = (4063256.14, 572669.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,192809.18,3642.7328,N,-12211.1801,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192809.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192810.18,3642.7333,N,-12211.1800,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192810.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1360.00 : 44.00 : Estimated East Bias at time = 1360.00 : 44.00 : Estimated Depth Bias at time = 1360.00 : 0.00 : Estimated northing and easting = 4063300.14 : 572713.13 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192811.18,3642.7338,N,-12211.1800,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192811.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192812.18,3642.7343,N,-12211.1801,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192812.00,,,,,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,192813.18,3642.7349,N,-12211.1802,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192813.00,,,,,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,192814.18,3642.7353,N,-12211.1805,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192814.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192815.18,3642.7358,N,-12211.1807,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192815.00,,,,,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,192816.18,3642.7362,N,-12211.1810,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192816.00,,,,,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,192817.18,3642.7366,N,-12211.1814,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192817.00,,,,,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,192818.18,3642.7370,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192818.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1369.996149 : TerrainNav update at dvl time = 1369.996149 : _navData-> (x,y) = (4063264.55, 572666.28) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1370.00 : 44.00 : Estimated East Bias at time = 1370.00 : 44.00 : NMEA Update: $GPGGA,192819.18,3642.7373,N,-12211.1823,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192819.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 1370.00 : 0.00 : Estimated northing and easting = 4063308.55 : 572710.28 : 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,192820.18,3642.7375,N,-12211.1828,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192820.00,,,,,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,192821.18,3642.7377,N,-12211.1834,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192821.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192822.18,3642.7379,N,-12211.1840,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192822.00,,,,,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,192823.18,3642.7380,N,-12211.1846,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192823.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192824.18,3642.7380,N,-12211.1852,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192824.00,,,,,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,192825.18,3642.7380,N,-12211.1858,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192825.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192826.18,3642.7379,N,-12211.1864,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,192826.00,,,,,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,192827.18,3642.7377,N,-12211.1870,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192827.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192828.18,3642.7375,N,-12211.1875,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192828.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1379.995464 : TerrainNav update at dvl time = 1379.995464 : _navData-> (x,y) = (4063264.72, 572657.77) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1380.00 : 44.00 : NMEA Update: $GPGGA,192829.18,3642.7372,N,-12211.1880,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,192829.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 1380.00 : 44.00 : Estimated Depth Bias at time = 1380.00 : 0.00 : Estimated northing and easting = 4063308.72 : 572701.77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192830.18,3642.7368,N,-12211.1885,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192830.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192831.18,3642.7364,N,-12211.1889,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192831.00,,,,,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,192832.18,3642.7360,N,-12211.1893,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192832.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192833.18,3642.7356,N,-12211.1895,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192833.00,,,,,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,192834.18,3642.7351,N,-12211.1898,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192834.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192835.18,3642.7346,N,-12211.1899,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192835.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192836.18,3642.7341,N,-12211.1899,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192836.00,,,,,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,192837.18,3642.7335,N,-12211.1899,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,192837.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192838.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192838.19,3642.7331,N,-12211.1898,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainNav update at nav time = 1389.994779 : TerrainNav update at dvl time = 1389.994779 : _navData-> (x,y) = (4063256.32, 572655.15) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1389.99 : 44.00 : Estimated East Bias at time = 1389.99 : 44.00 : Estimated Depth Bias at time = 1389.99 : 0.00 : Estimated northing and easting = 4063300.32 : 572699.15 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192839.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192839.19,3642.7326,N,-12211.1896,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192840.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192840.19,3642.7322,N,-12211.1893,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192841.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192841.19,3642.7318,N,-12211.1889,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192842.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192842.19,3642.7314,N,-12211.1884,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192843.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192843.19,3642.7310,N,-12211.1879,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192844.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192844.19,3642.7308,N,-12211.1874,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : 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,192845.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192845.19,3642.7306,N,-12211.1867,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192846.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192846.19,3642.7305,N,-12211.1861,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192847.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192847.19,3642.7305,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192848.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192848.19,3642.7305,N,-12211.1849,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1399.994094 : TerrainNav update at dvl time = 1399.994094 : _navData-> (x,y) = (4063252.33, 572662.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1399.99 : 45.00 : Estimated East Bias at time = 1399.99 : 45.00 : Estimated Depth Bias at time = 1399.99 : 0.00 : Estimated northing and easting = 4063297.33 : 572707.82 : AshtechGps::processRecord() - $GPGGA,192849.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192849.19,3642.7306,N,-12211.1842,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,192850.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192850.19,3642.7308,N,-12211.1837,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192851.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192851.19,3642.7311,N,-12211.1831,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : 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,192852.19,3642.7314,N,-12211.1826,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192852.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,192853.00,,,,,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,192853.19,3642.7317,N,-12211.1822,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,192854.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192854.19,3642.7321,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192855.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192855.19,3642.7326,N,-12211.1815,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192856.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192856.19,3642.7330,N,-12211.1813,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192857.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192857.19,3642.7335,N,-12211.1811,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192858.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192858.19,3642.7340,N,-12211.1810,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1409.993409 : TerrainNav update at dvl time = 1409.993409 : _navData-> (x,y) = (4063259.29, 572668.07) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1409.99 : 45.00 : Estimated East Bias at time = 1409.99 : 45.00 : Estimated Depth Bias at time = 1409.99 : 0.00 : AshtechGps::processRecord() - $GPGGA,192859.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192859.19,3642.7345,N,-12211.1809,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated northing and easting = 4063304.29 : 572713.07 : AshtechGps::processRecord() - $GPGGA,192900.00,,,,,0,00,,,M,,M,,*4B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192900.19,3642.7350,N,-12211.1810,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,192901.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192901.19,3642.7355,N,-12211.1812,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192902.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192902.19,3642.7361,N,-12211.1813,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192903.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192903.19,3642.7365,N,-12211.1816,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192904.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192904.19,3642.7370,N,-12211.1819,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192905.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192905.19,3642.7374,N,-12211.1823,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192906.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192906.19,3642.7378,N,-12211.1827,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192907.00,,,,,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,192907.19,3642.7381,N,-12211.1832,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192908.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192908.19,3642.7385,N,-12211.1837,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1420.002723 : TerrainNav update at dvl time = 1420.002723 : _navData-> (x,y) = (4063267.25, 572663.34) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1420.00 : 45.00 : AshtechGps::processRecord() - $GPGGA,192909.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192909.19,3642.7387,N,-12211.1843,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated East Bias at time = 1420.00 : 45.00 : Estimated Depth Bias at time = 1420.00 : 0.00 : Estimated northing and easting = 4063312.25 : 572708.34 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192910.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192910.19,3642.7389,N,-12211.1849,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192911.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192911.19,3642.7391,N,-12211.1856,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192912.00,,,,,0,00,,,M,,M,,*48 : NMEA Update: $GPGGA,192912.19,3642.7392,N,-12211.1862,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192913.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192913.19,3642.7392,N,-12211.1869,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192914.00,,,,,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,192914.19,3642.7391,N,-12211.1876,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,192915.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192915.19,3642.7390,N,-12211.1883,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192916.00,,,,,0,00,,,M,,M,,*4C : NMEA Update: $GPGGA,192916.19,3642.7388,N,-12211.1890,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192917.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192917.19,3642.7386,N,-12211.1896,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192918.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192918.19,3642.7383,N,-12211.1901,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1430.002038 : TerrainNav update at dvl time = 1430.002038 : _navData-> (x,y) = (4063266.18, 572653.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192919.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192919.19,3642.7380,N,-12211.1906,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : Estimated North Bias at time = 1430.00 : 45.00 : Estimated East Bias at time = 1430.00 : 45.00 : Estimated Depth Bias at time = 1430.00 : 0.00 : Estimated northing and easting = 4063311.18 : 572698.89 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192920.19,3642.7376,N,-12211.1910,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192920.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,192921.00,,,,,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,192921.19,3642.7371,N,-12211.1914,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192922.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192922.19,3642.7366,N,-12211.1917,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192923.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192923.19,3642.7362,N,-12211.1919,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192924.19,3642.7357,N,-12211.1919,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192924.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192925.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192925.19,3642.7352,N,-12211.1920,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192926.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192926.19,3642.7347,N,-12211.1919,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192927.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192927.19,3642.7342,N,-12211.1917,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192928.19,3642.7337,N,-12211.1915,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,192928.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1440.001353 : TerrainNav update at dvl time = 1440.001353 : _navData-> (x,y) = (4063257.59, 572652.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192929.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192929.19,3642.7333,N,-12211.1911,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : Estimated North Bias at time = 1440.00 : 45.00 : Estimated East Bias at time = 1440.00 : 45.00 : Estimated Depth Bias at time = 1440.00 : 0.00 : Estimated northing and easting = 4063302.59 : 572697.66 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192930.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192930.19,3642.7329,N,-12211.1907,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192931.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192931.19,3642.7326,N,-12211.1903,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192932.19,3642.7324,N,-12211.1897,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,192932.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,192933.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192933.19,3642.7322,N,-12211.1892,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192934.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192934.19,3642.7321,N,-12211.1885,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192935.00,,,,,0,00,,,M,,M,,*4D : NMEA Update: $GPGGA,192935.19,3642.7320,N,-12211.1879,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192936.19,3642.7320,N,-12211.1873,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192936.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,192937.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192937.19,3642.7322,N,-12211.1866,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192938.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192938.19,3642.7323,N,-12211.1860,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 1450.000668 : TerrainNav update at dvl time = 1450.000668 : _navData-> (x,y) = (4063255.80, 572661.05) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192939.19,3642.7326,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192939.00,,,,,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 : Estimated North Bias at time = 1450.00 : 45.00 : Estimated East Bias at time = 1450.00 : 45.00 : Estimated Depth Bias at time = 1450.00 : 0.00 : Estimated northing and easting = 4063300.80 : 572706.05 : NMEA Update: $GPGGA,192940.18,3642.7329,N,-12211.1849,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192940.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,192941.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192941.18,3642.7332,N,-12211.1844,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192942.00,,,,,0,00,,,M,,M,,*4D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192942.18,3642.7336,N,-12211.1840,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,192943.18,3642.7340,N,-12211.1836,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192943.00,,,,,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,192944.18,3642.7345,N,-12211.1833,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,192944.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,192945.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192945.18,3642.7350,N,-12211.1831,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,192946.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192946.18,3642.7355,N,-12211.1830,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : 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,192947.18,3642.7360,N,-12211.1829,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,192947.00,,,,,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,192948.18,3642.7365,N,-12211.1829,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,192948.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1459.999983 : TerrainNav update at dvl time = 1459.999983 : _navData-> (x,y) = (4063263.89, 572665.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,192949.00,,,,,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,192949.18,3642.7370,N,-12211.1829,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Estimated North Bias at time = 1460.00 : 45.00 : Estimated East Bias at time = 1460.00 : 45.00 : Estimated Depth Bias at time = 1460.00 : 0.00 : Estimated northing and easting = 4063308.89 : 572710.15 : AshtechGps::processRecord() - $GPGGA,192950.00,,,,,0,00,,,M,,M,,*4E : NMEA Update: $GPGGA,192950.18,3642.7375,N,-12211.1831,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : 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,192951.18,3642.7380,N,-12211.1833,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,192951.00,,,,,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,192952.18,3642.7385,N,-12211.1836,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,192952.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,192953.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192953.18,3642.7390,N,-12211.1839,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,192954.00,,,,,0,00,,,M,,M,,*4A : NMEA Update: $GPGGA,192954.18,3642.7394,N,-12211.1843,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : 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,192955.18,3642.7397,N,-12211.1848,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192955.00,,,,,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,192956.18,3642.7400,N,-12211.1853,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,192956.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,192957.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,192957.18,3642.7403,N,-12211.1858,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192958.18,3642.7405,N,-12211.1864,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,192958.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1469.999298 : TerrainNav update at dvl time = 1469.999298 : _navData-> (x,y) = (4063270.94, 572659.25) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,192959.18,3642.7407,N,-12211.1870,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,192959.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1470.00 : 46.00 : Estimated East Bias at time = 1470.00 : 46.00 : Estimated Depth Bias at time = 1470.00 : 0.00 : Estimated northing and easting = 4063316.94 : 572705.25 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193000.18,3642.7408,N,-12211.1877,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193000.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193001.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193001.18,3642.7408,N,-12211.1884,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193002.18,3642.7409,N,-12211.1891,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193002.00,,,,,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,193003.18,3642.7408,N,-12211.1898,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193003.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : stat is 92230 : got a SAN packet : time:70245.679688 : lat:36.7124 lon:-122.1865 : slant range: 1.00 : SNR:16.400000 AGC:49 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71235 lon -122.18645 : NMEA Update: $GPGGA,193004.18,3642.7411,N,-12211.1875,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193004.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193005.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193005.18,3642.7409,N,-12211.1881,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193006.18,3642.7407,N,-12211.1887,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193006.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193007.18,3642.7403,N,-12211.1892,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193007.00,,,,,0,00,,,M,,M,,*44 : 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,193008.18,3642.7400,N,-12211.1897,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193008.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1479.998613 : TerrainNav update at dvl time = 1479.998613 : _navData-> (x,y) = (4063269.23, 572654.63) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1480.00 : 46.00 : Estimated East Bias at time = 1480.00 : 46.00 : Estimated Depth Bias at time = 1480.00 : 0.00 : Estimated northing and easting = 4063315.23 : 572700.63 : AshtechGps::processRecord() - $GPGGA,193009.00,,,,,0,00,,,M,,M,,*4A : NMEA Update: $GPGGA,193009.18,3642.7396,N,-12211.1901,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : 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,193010.18,3642.7391,N,-12211.1904,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193010.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193011.18,3642.7387,N,-12211.1906,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193011.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193012.18,3642.7382,N,-12211.1908,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193012.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193013.00,,,,,0,00,,,M,,M,,*41 : NMEA Update: $GPGGA,193013.18,3642.7377,N,-12211.1909,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193014.18,3642.7371,N,-12211.1909,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193014.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193015.18,3642.7366,N,-12211.1908,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193015.00,,,,,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,193016.18,3642.7361,N,-12211.1906,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193016.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193017.18,3642.7356,N,-12211.1903,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193017.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193018.18,3642.7352,N,-12211.1900,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193018.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1489.997928 : TerrainNav update at dvl time = 1489.997928 : _navData-> (x,y) = (4063260.26, 572654.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1490.00 : 46.00 : Estimated East Bias at time = 1490.00 : 46.00 : NMEA Update: $GPGGA,193019.18,3642.7348,N,-12211.1896,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193019.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 1490.00 : 0.00 : Estimated northing and easting = 4063306.26 : 572700.88 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193020.18,3642.7344,N,-12211.1891,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193020.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193021.18,3642.7342,N,-12211.1886,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193021.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193022.18,3642.7340,N,-12211.1880,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193022.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193023.18,3642.7338,N,-12211.1874,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193023.00,,,,,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,193024.18,3642.7338,N,-12211.1868,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193024.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193025.18,3642.7338,N,-12211.1862,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193025.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193026.18,3642.7339,N,-12211.1856,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193026.00,,,,,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,193027.18,3642.7340,N,-12211.1850,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193027.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193028.18,3642.7343,N,-12211.1844,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193028.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1499.997243 : TerrainNav update at dvl time = 1499.997243 : _navData-> (x,y) = (4063259.46, 572663.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193029.18,3642.7345,N,-12211.1839,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193029.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1500.00 : 46.00 : Estimated East Bias at time = 1500.00 : 46.00 : Estimated Depth Bias at time = 1500.00 : 0.00 : Estimated northing and easting = 4063305.46 : 572709.38 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193030.18,3642.7349,N,-12211.1834,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193030.00,,,,,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,193031.18,3642.7353,N,-12211.1830,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193031.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193032.18,3642.7357,N,-12211.1826,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193032.00,,,,,0,00,,,M,,M,,*42 : 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,193033.18,3642.7361,N,-12211.1824,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193033.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193034.18,3642.7366,N,-12211.1822,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193034.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193035.18,3642.7371,N,-12211.1820,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193035.00,,,,,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,193036.18,3642.7376,N,-12211.1819,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193036.00,,,,,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,193037.18,3642.7381,N,-12211.1819,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193037.00,,,,,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,193038.18,3642.7386,N,-12211.1820,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193038.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1509.996558 : TerrainNav update at dvl time = 1509.996558 : _navData-> (x,y) = (4063267.75, 572666.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193039.18,3642.7391,N,-12211.1821,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193039.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1510.00 : 46.00 : Estimated East Bias at time = 1510.00 : 46.00 : Estimated Depth Bias at time = 1510.00 : 0.00 : Estimated northing and easting = 4063313.75 : 572712.31 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193040.18,3642.7396,N,-12211.1823,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193040.00,,,,,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,193041.18,3642.7400,N,-12211.1826,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193041.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193042.18,3642.7405,N,-12211.1829,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193042.00,,,,,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,193043.18,3642.7409,N,-12211.1833,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193043.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193044.18,3642.7413,N,-12211.1837,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193044.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193045.18,3642.7416,N,-12211.1842,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193045.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193046.18,3642.7419,N,-12211.1847,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193046.00,,,,,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,193047.18,3642.7421,N,-12211.1853,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193047.00,,,,,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,193048.18,3642.7423,N,-12211.1859,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193048.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1519.995873 : TerrainNav update at dvl time = 1519.995873 : _navData-> (x,y) = (4063274.11, 572659.97) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1520.00 : 46.00 : NMEA Update: $GPGGA,193049.18,3642.7424,N,-12211.1865,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193049.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 1520.00 : 46.00 : Estimated Depth Bias at time = 1520.00 : 0.00 : Estimated northing and easting = 4063320.11 : 572705.97 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193050.18,3642.7425,N,-12211.1872,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193050.00,,,,,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,193051.18,3642.7424,N,-12211.1878,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193051.00,,,,,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,193052.18,3642.7424,N,-12211.1885,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193052.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193053.18,3642.7423,N,-12211.1891,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193053.00,,,,,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,193054.18,3642.7421,N,-12211.1896,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193054.00,,,,,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,193055.18,3642.7419,N,-12211.1902,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193055.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193056.18,3642.7415,N,-12211.1906,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193056.00,,,,,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,193057.18,3642.7412,N,-12211.1911,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193057.00,,,,,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,193058.18,3642.7407,N,-12211.1915,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193058.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1529.995188 : TerrainNav update at dvl time = 1529.995188 : _navData-> (x,y) = (4063270.57, 572651.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193059.18,3642.7403,N,-12211.1918,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193059.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1530.00 : 47.00 : Estimated East Bias at time = 1530.00 : 47.00 : Estimated Depth Bias at time = 1530.00 : 0.00 : Estimated northing and easting = 4063317.57 : 572698.93 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193100.18,3642.7398,N,-12211.1920,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193100.00,,,,,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,193101.18,3642.7394,N,-12211.1922,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193101.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193102.18,3642.7389,N,-12211.1923,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193102.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193103.18,3642.7384,N,-12211.1923,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193103.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193104.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193104.19,3642.7379,N,-12211.1922,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193105.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193105.19,3642.7374,N,-12211.1920,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193106.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193106.19,3642.7369,N,-12211.1917,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193107.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193107.19,3642.7365,N,-12211.1913,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193108.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193108.19,3642.7362,N,-12211.1909,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 1539.994503 : TerrainNav update at dvl time = 1539.994503 : _navData-> (x,y) = (4063262.20, 572653.68) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1539.99 : 47.00 : Estimated East Bias at time = 1539.99 : 47.00 : Estimated Depth Bias at time = 1539.99 : 0.00 : Estimated northing and easting = 4063309.20 : 572700.68 : AshtechGps::processRecord() - $GPGGA,193109.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193109.19,3642.7358,N,-12211.1904,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193110.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193110.19,3642.7356,N,-12211.1898,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193111.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193111.19,3642.7354,N,-12211.1892,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193112.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193112.19,3642.7352,N,-12211.1886,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193113.00,,,,,0,00,,,M,,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193113.19,3642.7352,N,-12211.1880,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193114.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193114.19,3642.7352,N,-12211.1873,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193115.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193115.19,3642.7353,N,-12211.1867,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193116.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193116.19,3642.7355,N,-12211.1861,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193117.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193117.19,3642.7357,N,-12211.1856,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193118.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193118.19,3642.7361,N,-12211.1850,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1549.993818 : TerrainNav update at dvl time = 1549.993818 : _navData-> (x,y) = (4063262.86, 572662.38) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1549.99 : 47.00 : Estimated East Bias at time = 1549.99 : 47.00 : Estimated Depth Bias at time = 1549.99 : 0.00 : Estimated northing and easting = 4063309.86 : 572709.38 : AshtechGps::processRecord() - $GPGGA,193119.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193119.19,3642.7364,N,-12211.1846,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193120.00,,,,,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,193120.19,3642.7368,N,-12211.1841,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193121.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193121.19,3642.7373,N,-12211.1838,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193122.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193122.19,3642.7378,N,-12211.1835,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193123.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193123.19,3642.7383,N,-12211.1832,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193124.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193124.19,3642.7388,N,-12211.1831,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193125.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193125.19,3642.7393,N,-12211.1830,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193126.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193126.19,3642.7399,N,-12211.1830,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193127.00,,,,,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,193127.19,3642.7404,N,-12211.1831,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193128.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193128.19,3642.7409,N,-12211.1832,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1560.003132 : TerrainNav update at dvl time = 1560.003132 : _navData-> (x,y) = (4063272.11, 572664.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193129.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193129.19,3642.7415,N,-12211.1834,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : Estimated North Bias at time = 1560.00 : 47.00 : Estimated East Bias at time = 1560.00 : 47.00 : Estimated Depth Bias at time = 1560.00 : 0.00 : Estimated northing and easting = 4063319.11 : 572711.43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193130.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193130.19,3642.7420,N,-12211.1837,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193131.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193131.19,3642.7424,N,-12211.1841,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193132.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193132.19,3642.7428,N,-12211.1845,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193133.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193133.19,3642.7432,N,-12211.1850,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193134.00,,,,,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,193134.19,3642.7436,N,-12211.1855,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193135.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193135.19,3642.7439,N,-12211.1861,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193136.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193136.19,3642.7441,N,-12211.1867,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193137.00,,,,,0,00,,,M,,M,,*46 : NMEA Update: $GPGGA,193137.19,3642.7442,N,-12211.1873,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193138.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193138.19,3642.7443,N,-12211.1880,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1570.002447 : TerrainNav update at dvl time = 1570.002447 : _navData-> (x,y) = (4063277.74, 572656.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193139.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193139.19,3642.7443,N,-12211.1887,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : Estimated North Bias at time = 1570.00 : 46.00 : Estimated East Bias at time = 1570.00 : 46.00 : Estimated Depth Bias at time = 1570.00 : 0.00 : Estimated northing and easting = 4063323.74 : 572702.83 : 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,193140.00,,,,,0,00,,,M,,M,,*46 : NMEA Update: $GPGGA,193140.19,3642.7443,N,-12211.1893,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : 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,193141.19,3642.7442,N,-12211.1899,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193141.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193142.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193142.19,3642.7441,N,-12211.1906,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193143.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193143.19,3642.7439,N,-12211.1912,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193144.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193144.19,3642.7436,N,-12211.1918,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : NMEA Update: $GPGGA,193145.19,3642.7433,N,-12211.1923,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193145.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193146.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193146.19,3642.7429,N,-12211.1927,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193147.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193147.19,3642.7425,N,-12211.1931,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193148.00,,,,,0,00,,,M,,M,,*4E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193148.19,3642.7421,N,-12211.1934,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 1580.001762 : TerrainNav update at dvl time = 1580.001762 : _navData-> (x,y) = (4063272.95, 572649.27) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1580.00 : 46.00 : Estimated East Bias at time = 1580.00 : 46.00 : Estimated Depth Bias at time = 1580.00 : 0.00 : Estimated northing and easting = 4063318.95 : 572695.27 : NMEA Update: $GPGGA,193149.19,3642.7416,N,-12211.1935,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193149.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193150.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193150.19,3642.7411,N,-12211.1936,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193151.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193151.19,3642.7405,N,-12211.1936,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193152.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193152.19,3642.7400,N,-12211.1936,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193153.19,3642.7395,N,-12211.1934,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193153.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193154.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193154.19,3642.7390,N,-12211.1932,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193155.00,,,,,0,00,,,M,,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193155.19,3642.7386,N,-12211.1928,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193156.00,,,,,0,00,,,M,,M,,*41 : NMEA Update: $GPGGA,193156.19,3642.7382,N,-12211.1924,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : 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,193157.19,3642.7378,N,-12211.1919,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193157.00,,,,,0,00,,,M,,M,,*40 : 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 : AshtechGps::processRecord() - $GPGGA,193158.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193158.19,3642.7375,N,-12211.1914,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 1590.001077 : TerrainNav update at dvl time = 1590.001077 : _navData-> (x,y) = (4063264.85, 572652.96) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1590.00 : 46.00 : Estimated East Bias at time = 1590.00 : 46.00 : Estimated Depth Bias at time = 1590.00 : 0.00 : Estimated northing and easting = 4063310.85 : 572698.96 : AshtechGps::processRecord() - $GPGGA,193159.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193159.19,3642.7373,N,-12211.1908,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193200.19,3642.7372,N,-12211.1902,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193200.00,,,,,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,193201.19,3642.7371,N,-12211.1896,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193201.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193202.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193202.19,3642.7371,N,-12211.1888,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193203.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193203.19,3642.7372,N,-12211.1881,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193204.19,3642.7374,N,-12211.1875,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193204.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : stat is 92230 : got a SAN packet : time:70366.703125 : lat:36.7123 lon:-122.1866 : slant range: 1.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SNR:16.400000 AGC:44 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71233 lon -122.18660 : NMEA Update: $GPGGA,193205.19,3642.7398,N,-12211.1959,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193205.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193206.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193206.18,3642.7401,N,-12211.1953,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193207.00,,,,,0,00,,,M,,M,,*46 : NMEA Update: $GPGGA,193207.18,3642.7405,N,-12211.1948,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : 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,193208.18,3642.7408,N,-12211.1943,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193208.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1600.000392 : TerrainNav update at dvl time = 1600.000392 : _navData-> (x,y) = (4063271.67, 572648.39) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1600.00 : 47.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193209.18,3642.7413,N,-12211.1939,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193209.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 1600.00 : 47.00 : Estimated Depth Bias at time = 1600.00 : 0.00 : Estimated northing and easting = 4063318.67 : 572695.39 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193210.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193210.18,3642.7417,N,-12211.1936,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193211.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193211.18,3642.7422,N,-12211.1934,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193212.18,3642.7427,N,-12211.1932,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193212.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193213.18,3642.7432,N,-12211.1931,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193213.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193214.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193214.18,3642.7437,N,-12211.1931,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193215.00,,,,,0,00,,,M,,M,,*45 : NMEA Update: $GPGGA,193215.18,3642.7443,N,-12211.1931,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : 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,193216.18,3642.7448,N,-12211.1932,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193216.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193217.18,3642.7453,N,-12211.1934,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193217.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193218.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193218.18,3642.7458,N,-12211.1937,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 1609.999707 : TerrainNav update at dvl time = 1609.999707 : _navData-> (x,y) = (4063280.79, 572648.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193219.18,3642.7462,N,-12211.1940,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193219.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1610.00 : 47.00 : Estimated East Bias at time = 1610.00 : 47.00 : Estimated Depth Bias at time = 1610.00 : 0.00 : Estimated northing and easting = 4063327.79 : 572695.67 : NMEA Update: $GPGGA,193220.18,3642.7466,N,-12211.1944,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193220.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193221.18,3642.7470,N,-12211.1948,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193221.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193222.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193222.18,3642.7473,N,-12211.1953,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193223.18,3642.7477,N,-12211.1958,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193223.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193224.18,3642.7479,N,-12211.1964,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193224.00,,,,,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,193225.18,3642.7480,N,-12211.1970,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193225.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193226.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193226.18,3642.7482,N,-12211.1977,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193227.18,3642.7482,N,-12211.1983,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193227.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193228.18,3642.7482,N,-12211.1990,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193228.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1619.999022 : TerrainNav update at dvl time = 1619.999022 : _navData-> (x,y) = (4063284.68, 572640.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193229.18,3642.7481,N,-12211.1996,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193229.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1620.00 : 47.00 : Estimated East Bias at time = 1620.00 : 47.00 : Estimated Depth Bias at time = 1620.00 : 0.00 : Estimated northing and easting = 4063331.68 : 572687.42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193230.00,,,,,0,00,,,M,,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193230.18,3642.7479,N,-12211.2002,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : NMEA Update: $GPGGA,193231.18,3642.7477,N,-12211.2008,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193231.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193232.18,3642.7475,N,-12211.2013,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193232.00,,,,,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,193233.18,3642.7472,N,-12211.2018,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193233.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193234.18,3642.7468,N,-12211.2023,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193234.00,,,,,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,193235.18,3642.7463,N,-12211.2027,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193235.00,,,,,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,193236.18,3642.7459,N,-12211.2030,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193236.00,,,,,0,00,,,M,,M,,*44 : 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,193237.18,3642.7454,N,-12211.2033,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193237.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193238.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193238.18,3642.7448,N,-12211.2034,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1629.998338 : TerrainNav update at dvl time = 1629.998338 : _navData-> (x,y) = (4063277.88, 572634.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193239.18,3642.7443,N,-12211.2035,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193239.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1630.00 : 47.00 : Estimated East Bias at time = 1630.00 : 47.00 : Estimated Depth Bias at time = 1630.00 : 0.00 : Estimated northing and easting = 4063324.88 : 572681.39 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193240.18,3642.7438,N,-12211.2034,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193240.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193241.18,3642.7432,N,-12211.2033,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193241.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193242.18,3642.7428,N,-12211.2031,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193242.00,,,,,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,193243.18,3642.7423,N,-12211.2028,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193243.00,,,,,0,00,,,M,,M,,*46 : 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,193244.18,3642.7419,N,-12211.2024,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193244.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193245.18,3642.7415,N,-12211.2020,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193245.00,,,,,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,193246.18,3642.7412,N,-12211.2015,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193246.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193247.18,3642.7409,N,-12211.2009,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193247.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193248.18,3642.7408,N,-12211.2003,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193248.00,,,,,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 : TerrainNav update at nav time = 1639.997653 : TerrainNav update at dvl time = 1639.997653 : _navData-> (x,y) = (4063270.84, 572639.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193249.18,3642.7407,N,-12211.1997,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193249.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1640.00 : 47.00 : Estimated East Bias at time = 1640.00 : 47.00 : Estimated Depth Bias at time = 1640.00 : 0.00 : Estimated northing and easting = 4063317.84 : 572686.66 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193250.18,3642.7406,N,-12211.1991,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193250.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193251.18,3642.7407,N,-12211.1985,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193251.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193252.18,3642.7408,N,-12211.1978,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193252.00,,,,,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,193253.18,3642.7410,N,-12211.1972,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193253.00,,,,,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,193254.18,3642.7412,N,-12211.1967,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193254.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193255.18,3642.7415,N,-12211.1962,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193255.00,,,,,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,193256.18,3642.7419,N,-12211.1957,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193256.00,,,,,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,193257.18,3642.7423,N,-12211.1953,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193257.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193258.18,3642.7428,N,-12211.1949,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193258.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1649.996968 : TerrainNav update at dvl time = 1649.996968 : _navData-> (x,y) = (4063275.33, 572647.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193259.18,3642.7433,N,-12211.1947,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193259.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1650.00 : 48.00 : Estimated East Bias at time = 1650.00 : 48.00 : Estimated Depth Bias at time = 1650.00 : 0.00 : Estimated northing and easting = 4063323.33 : 572695.35 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193300.18,3642.7438,N,-12211.1945,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193300.00,,,,,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,193301.18,3642.7443,N,-12211.1944,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193301.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193302.18,3642.7448,N,-12211.1943,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193302.00,,,,,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,193303.18,3642.7453,N,-12211.1943,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193303.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193304.18,3642.7458,N,-12211.1945,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193304.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193305.18,3642.7463,N,-12211.1946,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193305.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193306.18,3642.7467,N,-12211.1948,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193306.00,,,,,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,193307.18,3642.7472,N,-12211.1951,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193307.00,,,,,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,193308.18,3642.7476,N,-12211.1955,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193308.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1659.996283 : TerrainNav update at dvl time = 1659.996283 : _navData-> (x,y) = (4063284.15, 572645.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193309.18,3642.7480,N,-12211.1959,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193309.00,,,,,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 : Estimated North Bias at time = 1660.00 : 48.00 : Estimated East Bias at time = 1660.00 : 48.00 : Estimated Depth Bias at time = 1660.00 : 0.00 : Estimated northing and easting = 4063332.15 : 572693.83 : NMEA Update: $GPGGA,193310.18,3642.7484,N,-12211.1964,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193310.00,,,,,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,193311.18,3642.7486,N,-12211.1969,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193311.00,,,,,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,193312.18,3642.7489,N,-12211.1975,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193312.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193313.18,3642.7491,N,-12211.1981,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193313.00,,,,,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,193314.18,3642.7492,N,-12211.1987,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193314.00,,,,,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,193315.18,3642.7493,N,-12211.1994,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193315.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193316.18,3642.7493,N,-12211.2000,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193316.00,,,,,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,193317.18,3642.7492,N,-12211.2007,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193317.00,,,,,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,193318.18,3642.7491,N,-12211.2014,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193318.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1669.995597 : TerrainNav update at dvl time = 1669.995597 : _navData-> (x,y) = (4063286.21, 572636.90) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193319.18,3642.7489,N,-12211.2020,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193319.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1670.00 : 48.00 : Estimated East Bias at time = 1670.00 : 48.00 : Estimated Depth Bias at time = 1670.00 : 0.00 : Estimated northing and easting = 4063334.21 : 572684.90 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193320.18,3642.7487,N,-12211.2026,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193320.00,,,,,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,193321.18,3642.7484,N,-12211.2031,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193321.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193322.18,3642.7480,N,-12211.2036,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193322.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193323.18,3642.7476,N,-12211.2040,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193323.00,,,,,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,193324.18,3642.7472,N,-12211.2043,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193324.00,,,,,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,193325.18,3642.7467,N,-12211.2046,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193325.00,,,,,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,193326.18,3642.7462,N,-12211.2048,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193326.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193327.18,3642.7457,N,-12211.2049,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193327.00,,,,,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,193328.18,3642.7452,N,-12211.2049,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193328.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1679.994912 : TerrainNav update at dvl time = 1679.994912 : _navData-> (x,y) = (4063278.49, 572632.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193329.18,3642.7447,N,-12211.2048,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193329.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1679.99 : 48.00 : Estimated East Bias at time = 1679.99 : 48.00 : Estimated Depth Bias at time = 1679.99 : 0.00 : Estimated northing and easting = 4063326.49 : 572680.28 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193330.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193330.19,3642.7441,N,-12211.2047,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193331.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193331.19,3642.7436,N,-12211.2044,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193332.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193332.19,3642.7432,N,-12211.2041,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193333.19,3642.7428,N,-12211.2036,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193333.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193334.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193334.19,3642.7425,N,-12211.2032,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193335.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193335.19,3642.7422,N,-12211.2026,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193336.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193336.19,3642.7419,N,-12211.2021,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193337.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193337.19,3642.7418,N,-12211.2015,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193338.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193338.19,3642.7417,N,-12211.2008,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : 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) = (4063272.75, 572638.89) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1689.99 : 48.00 : Estimated East Bias at time = 1689.99 : 48.00 : Estimated Depth Bias at time = 1689.99 : 0.00 : Estimated northing and easting = 4063320.75 : 572686.89 : AshtechGps::processRecord() - $GPGGA,193339.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193339.19,3642.7417,N,-12211.2002,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193340.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193340.19,3642.7418,N,-12211.1996,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193341.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193341.19,3642.7420,N,-12211.1990,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193342.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193342.19,3642.7422,N,-12211.1984,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193343.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193343.19,3642.7424,N,-12211.1978,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193344.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193344.19,3642.7427,N,-12211.1973,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193345.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193345.19,3642.7431,N,-12211.1969,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193346.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193346.19,3642.7435,N,-12211.1965,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193347.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193347.19,3642.7440,N,-12211.1962,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193348.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193348.19,3642.7444,N,-12211.1959,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1699.993542 : TerrainNav update at dvl time = 1699.993542 : _navData-> (x,y) = (4063278.35, 572645.87) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1699.99 : 48.00 : Estimated East Bias at time = 1699.99 : 48.00 : Estimated Depth Bias at time = 1699.99 : 0.00 : Estimated northing and easting = 4063326.35 : 572693.87 : AshtechGps::processRecord() - $GPGGA,193349.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193349.19,3642.7449,N,-12211.1957,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193350.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193350.19,3642.7455,N,-12211.1956,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193351.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193351.19,3642.7460,N,-12211.1955,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193352.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193352.19,3642.7465,N,-12211.1955,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193353.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193353.19,3642.7471,N,-12211.1956,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193354.00,,,,,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,193354.19,3642.7476,N,-12211.1958,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193355.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193355.19,3642.7480,N,-12211.1960,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193356.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193356.19,3642.7485,N,-12211.1963,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193357.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193357.19,3642.7489,N,-12211.1967,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193358.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193358.19,3642.7493,N,-12211.1971,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1710.002857 : TerrainNav update at dvl time = 1710.002857 : _navData-> (x,y) = (4063287.18, 572643.35) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1710.00 : 48.00 : Estimated East Bias at time = 1710.00 : 48.00 : Estimated Depth Bias at time = 1710.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,193359.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193359.19,3642.7496,N,-12211.1976,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : Estimated northing and easting = 4063335.18 : 572691.35 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193400.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193400.19,3642.7500,N,-12211.1981,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193401.00,,,,,0,00,,,M,,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193401.19,3642.7502,N,-12211.1986,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193402.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193402.19,3642.7504,N,-12211.1992,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193403.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193403.19,3642.7505,N,-12211.1998,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193404.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193404.19,3642.7506,N,-12211.2004,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193405.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193405.19,3642.7506,N,-12211.2010,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193406.19,3642.7506,N,-12211.2017,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193406.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193407.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193407.19,3642.7505,N,-12211.2023,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193408.00,,,,,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,193408.19,3642.7503,N,-12211.2029,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1720.002172 : TerrainNav update at dvl time = 1720.002172 : _navData-> (x,y) = (4063288.29, 572634.69) : _tercom->outstandingMeas() = 0 : stat is 92230 : got a SAN packet : time:70490.804688 : lat:36.7122 lon:-122.1860 : slant range: 1.00 : SNR:18.900000 AGC:51 : AshtechGps::processRecord() - $GPGGA,193409.00,,,,,0,00,,,M,,M,,*4E : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71225 lon -122.18597 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193409.19,3642.7501,N,-12211.2033,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : Estimated North Bias at time = 1720.00 : 48.00 : Estimated East Bias at time = 1720.00 : 48.00 : Estimated Depth Bias at time = 1720.00 : 0.00 : Estimated northing and easting = 4063336.29 : 572682.69 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193410.19,3642.7344,N,-12211.1591,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193410.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193411.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193411.19,3642.7341,N,-12211.1595,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193412.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193412.19,3642.7336,N,-12211.1599,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193413.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193413.19,3642.7331,N,-12211.1602,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193414.19,3642.7327,N,-12211.1604,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193414.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193415.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193415.19,3642.7322,N,-12211.1605,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193416.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193416.19,3642.7317,N,-12211.1606,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193417.00,,,,,0,00,,,M,,M,,*41 : NMEA Update: $GPGGA,193417.19,3642.7311,N,-12211.1607,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : 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,193418.19,3642.7306,N,-12211.1606,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193418.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1730.001487 : TerrainNav update at dvl time = 1730.001487 : _navData-> (x,y) = (4063252.01, 572698.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193419.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193419.19,3642.7300,N,-12211.1603,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193420.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193420.19,3642.7295,N,-12211.1601,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193421.19,3642.7290,N,-12211.1597,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193421.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193422.19,3642.7286,N,-12211.1593,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193422.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193423.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193423.19,3642.7283,N,-12211.1588,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193424.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193424.19,3642.7280,N,-12211.1582,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193425.19,3642.7277,N,-12211.1576,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193425.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193426.19,3642.7276,N,-12211.1568,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193426.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193427.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193427.19,3642.7275,N,-12211.1561,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193428.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193428.19,3642.7275,N,-12211.1555,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193429.19,3642.7275,N,-12211.1548,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193429.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193430.19,3642.7277,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193430.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1730.00 : 46.00 : Estimated East Bias at time = 1730.00 : 46.00 : Estimated Depth Bias at time = 1730.00 : 0.00 : Estimated northing and easting = 4063298.01 : 572744.63 : AshtechGps::processRecord() - $GPGGA,193431.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193431.19,3642.7279,N,-12211.1536,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193432.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193432.18,3642.7282,N,-12211.1530,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : NMEA Update: $GPGGA,193433.18,3642.7286,N,-12211.1524,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193433.00,,,,,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,193434.18,3642.7290,N,-12211.1520,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193434.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193435.00,,,,,0,00,,,M,,M,,*41 : NMEA Update: $GPGGA,193435.18,3642.7294,N,-12211.1516,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193436.00,,,,,0,00,,,M,,M,,*42 : NMEA Update: $GPGGA,193436.18,3642.7298,N,-12211.1513,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193437.18,3642.7303,N,-12211.1511,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193437.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193438.18,3642.7308,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193438.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1750.000117 : TerrainNav update at dvl time = 1750.000117 : _navData-> (x,y) = (4063254.04, 572712.85) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193439.18,3642.7315,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193439.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1750.00 : 46.00 : Estimated East Bias at time = 1750.00 : 46.00 : Estimated Depth Bias at time = 1750.00 : 0.00 : Estimated northing and easting = 4063300.04 : 572758.85 : NMEA Update: $GPGGA,193440.18,3642.7320,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,193440.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193441.18,3642.7325,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193441.00,,,,,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,193442.18,3642.7329,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193442.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193443.00,,,,,0,00,,,M,,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193443.18,3642.7334,N,-12211.1511,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : NMEA Update: $GPGGA,193444.18,3642.7339,N,-12211.1513,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193444.00,,,,,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,193445.18,3642.7344,N,-12211.1517,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,193445.00,,,,,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,193446.18,3642.7348,N,-12211.1522,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193446.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193447.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193447.18,3642.7352,N,-12211.1526,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193448.18,3642.7355,N,-12211.1531,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193448.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1759.999432 : TerrainNav update at dvl time = 1759.999432 : _navData-> (x,y) = (4063262.22, 572709.05) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193449.18,3642.7358,N,-12211.1536,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193449.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1760.00 : 46.00 : Estimated East Bias at time = 1760.00 : 46.00 : Estimated Depth Bias at time = 1760.00 : 0.00 : Estimated northing and easting = 4063308.22 : 572755.05 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193450.18,3642.7361,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193450.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193451.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193451.18,3642.7363,N,-12211.1548,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193452.18,3642.7364,N,-12211.1556,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193452.00,,,,,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,193453.18,3642.7364,N,-12211.1562,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193453.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193454.18,3642.7365,N,-12211.1569,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193454.00,,,,,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,193455.18,3642.7364,N,-12211.1575,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,193455.00,,,,,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,193456.18,3642.7363,N,-12211.1582,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193456.00,,,,,0,00,,,M,,M,,*44 : 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,193457.18,3642.7361,N,-12211.1588,W,1,03,00.5,141.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193457.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193458.18,3642.7359,N,-12211.1594,W,1,03,00.5,141.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193458.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1769.998747 : TerrainNav update at dvl time = 1769.998747 : _navData-> (x,y) = (4063262.19, 572699.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193459.00,,,,,0,00,,,M,,M,,*4B : NMEA Update: $GPGGA,193459.18,3642.7356,N,-12211.1600,W,1,03,00.5,141.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1770.00 : 46.00 : Estimated East Bias at time = 1770.00 : 46.00 : Estimated Depth Bias at time = 1770.00 : 0.00 : Estimated northing and easting = 4063308.19 : 572745.62 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193500.18,3642.7353,N,-12211.1605,W,1,03,00.5,140.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193500.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193501.18,3642.7349,N,-12211.1609,W,1,03,00.5,141.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193501.00,,,,,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,193502.18,3642.7345,N,-12211.1613,W,1,03,00.5,140.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193502.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193503.18,3642.7340,N,-12211.1616,W,1,03,00.5,140.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,193503.00,,,,,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,193504.18,3642.7335,N,-12211.1618,W,1,03,00.5,139.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193504.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193505.18,3642.7330,N,-12211.1620,W,1,03,00.5,139.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193505.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193506.18,3642.7325,N,-12211.1620,W,1,03,00.5,139.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193506.00,,,,,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,193507.18,3642.7320,N,-12211.1620,W,1,03,00.5,139.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,193507.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193508.18,3642.7315,N,-12211.1618,W,1,03,00.5,138.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193508.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1779.998062 : TerrainNav update at dvl time = 1779.998062 : _navData-> (x,y) = (4063253.71, 572696.74) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1780.00 : 46.00 : Estimated East Bias at time = 1780.00 : 46.00 : NMEA Update: $GPGGA,193509.18,3642.7310,N,-12211.1616,W,1,03,00.5,138.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193509.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 1780.00 : 0.00 : Estimated northing and easting = 4063299.71 : 572742.74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193510.18,3642.7305,N,-12211.1613,W,1,03,00.5,138.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193510.00,,,,,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,193511.18,3642.7301,N,-12211.1609,W,1,03,00.5,137.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193511.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193512.18,3642.7297,N,-12211.1605,W,1,03,00.5,137.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,193512.00,,,,,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,193513.18,3642.7294,N,-12211.1600,W,1,03,00.5,137.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193513.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193514.18,3642.7291,N,-12211.1594,W,1,03,00.5,138.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193514.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193515.18,3642.7289,N,-12211.1588,W,1,03,00.5,137.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193515.00,,,,,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,193516.18,3642.7288,N,-12211.1582,W,1,03,00.5,138.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,193516.00,,,,,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,193517.18,3642.7288,N,-12211.1575,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193517.00,,,,,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,193518.18,3642.7288,N,-12211.1569,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193518.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1789.997377 : TerrainNav update at dvl time = 1789.997377 : _navData-> (x,y) = (4063249.54, 572704.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193519.18,3642.7289,N,-12211.1563,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193519.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1790.00 : 46.00 : Estimated East Bias at time = 1790.00 : 46.00 : Estimated Depth Bias at time = 1790.00 : 0.00 : Estimated northing and easting = 4063295.54 : 572750.52 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193520.18,3642.7291,N,-12211.1557,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193520.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193521.18,3642.7293,N,-12211.1551,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193521.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193522.18,3642.7297,N,-12211.1546,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193522.00,,,,,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,193523.18,3642.7300,N,-12211.1542,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193523.00,,,,,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,193524.18,3642.7304,N,-12211.1538,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193524.00,,,,,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,193525.18,3642.7308,N,-12211.1534,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,193525.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193526.18,3642.7313,N,-12211.1532,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,193526.00,,,,,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,193527.18,3642.7318,N,-12211.1530,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,193527.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193528.18,3642.7323,N,-12211.1529,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193528.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1799.996692 : TerrainNav update at dvl time = 1799.996692 : _navData-> (x,y) = (4063256.46, 572709.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193529.18,3642.7328,N,-12211.1528,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193529.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1800.00 : 47.00 : Estimated East Bias at time = 1800.00 : 47.00 : Estimated Depth Bias at time = 1800.00 : 0.00 : Estimated northing and easting = 4063303.46 : 572756.96 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193530.18,3642.7333,N,-12211.1528,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,193530.00,,,,,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,193531.18,3642.7338,N,-12211.1529,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193531.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193532.18,3642.7343,N,-12211.1531,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,193532.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193533.18,3642.7348,N,-12211.1533,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,193533.00,,,,,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,193534.18,3642.7352,N,-12211.1536,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193534.00,,,,,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,193535.18,3642.7357,N,-12211.1540,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,193535.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193536.18,3642.7361,N,-12211.1545,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193536.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193537.18,3642.7365,N,-12211.1550,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193537.00,,,,,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,193538.18,3642.7368,N,-12211.1555,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193538.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1809.996007 : TerrainNav update at dvl time = 1809.996007 : _navData-> (x,y) = (4063264.40, 572705.36) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193539.18,3642.7369,N,-12211.1561,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,193539.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1810.00 : 47.00 : Estimated East Bias at time = 1810.00 : 47.00 : Estimated Depth Bias at time = 1810.00 : 0.00 : Estimated northing and easting = 4063311.40 : 572752.36 : NMEA Update: $GPGGA,193540.18,3642.7371,N,-12211.1567,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,193540.00,,,,,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,193541.18,3642.7373,N,-12211.1573,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,193541.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193542.18,3642.7373,N,-12211.1580,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,193542.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193543.18,3642.7373,N,-12211.1586,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,193543.00,,,,,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,193544.18,3642.7373,N,-12211.1592,W,1,03,00.5,126.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,193544.00,,,,,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,193545.18,3642.7372,N,-12211.1599,W,1,03,00.5,126.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193545.00,,,,,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,193546.18,3642.7371,N,-12211.1605,W,1,03,00.5,125.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,193546.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193547.18,3642.7368,N,-12211.1611,W,1,03,00.5,125.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193547.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193548.18,3642.7366,N,-12211.1616,W,1,03,00.5,125.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,193548.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1819.995322 : TerrainNav update at dvl time = 1819.995322 : _navData-> (x,y) = (4063263.33, 572696.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193549.18,3642.7362,N,-12211.1621,W,1,03,00.5,125.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193549.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1820.00 : 47.00 : Estimated East Bias at time = 1820.00 : 47.00 : Estimated Depth Bias at time = 1820.00 : 0.00 : Estimated northing and easting = 4063310.33 : 572743.40 : NMEA Update: $GPGGA,193550.18,3642.7359,N,-12211.1625,W,1,03,00.5,122.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193550.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193551.18,3642.7354,N,-12211.1628,W,1,03,00.5,122.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193551.00,,,,,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,193552.18,3642.7350,N,-12211.1631,W,1,03,00.5,123.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193552.00,,,,,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,193553.18,3642.7345,N,-12211.1633,W,1,03,00.5,123.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193553.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193554.18,3642.7340,N,-12211.1633,W,1,03,00.5,123.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193554.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193555.18,3642.7336,N,-12211.1633,W,1,03,00.5,122.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,193555.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193556.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193556.19,3642.7330,N,-12211.1633,W,1,03,00.5,123.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193557.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193557.19,3642.7325,N,-12211.1632,W,1,03,00.5,122.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193558.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193558.19,3642.7320,N,-12211.1630,W,1,03,00.5,120.9,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1829.994637 : TerrainNav update at dvl time = 1829.994637 : _navData-> (x,y) = (4063254.77, 572695.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193559.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193559.19,3642.7316,N,-12211.1626,W,1,03,00.5,121.7,M,-99.9,M,,*4c : Estimated North Bias at time = 1829.99 : 48.00 : Estimated East Bias at time = 1829.99 : 48.00 : Estimated Depth Bias at time = 1829.99 : 0.00 : Estimated northing and easting = 4063302.77 : 572743.14 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193600.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193600.19,3642.7312,N,-12211.1623,W,1,03,00.5,121.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,193601.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193601.19,3642.7308,N,-12211.1618,W,1,03,00.5,121.5,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,193602.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193602.19,3642.7306,N,-12211.1612,W,1,03,00.5,121.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193603.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193603.19,3642.7304,N,-12211.1607,W,1,03,00.5,122.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193604.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193604.19,3642.7303,N,-12211.1601,W,1,03,00.5,122.3,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,193605.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193605.19,3642.7302,N,-12211.1595,W,1,03,00.5,122.5,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193606.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193606.19,3642.7302,N,-12211.1588,W,1,03,00.5,121.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,193607.00,,,,,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,193607.19,3642.7303,N,-12211.1582,W,1,03,00.5,121.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,193608.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193608.19,3642.7305,N,-12211.1576,W,1,03,00.5,121.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1839.993952 : TerrainNav update at dvl time = 1839.993952 : _navData-> (x,y) = (4063252.70, 572703.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193609.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193609.19,3642.7307,N,-12211.1569,W,1,03,00.5,121.1,M,-99.9,M,,*44 : Estimated North Bias at time = 1839.99 : 48.00 : Estimated East Bias at time = 1839.99 : 48.00 : Estimated Depth Bias at time = 1839.99 : 0.00 : Estimated northing and easting = 4063300.70 : 572751.48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193610.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193610.19,3642.7309,N,-12211.1564,W,1,03,00.5,121.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,193611.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193611.19,3642.7313,N,-12211.1559,W,1,03,00.5,121.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193612.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193612.19,3642.7317,N,-12211.1554,W,1,03,00.5,120.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : stat is 92230 : got a SAN packet : time:70614.812500 : lat:36.7120 lon:-122.1861 : slant range: 1.00 : SNR:15.300000 AGC:51 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71198 lon -122.18608 : AshtechGps::processRecord() - $GPGGA,193613.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193613.19,3642.7188,N,-12211.1648,W,1,03,00.5,120.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,193614.00,,,,,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,193614.19,3642.7193,N,-12211.1645,W,1,03,00.5,120.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,193615.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193615.19,3642.7198,N,-12211.1642,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193616.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193616.19,3642.7202,N,-12211.1640,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193617.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193617.19,3642.7208,N,-12211.1639,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193618.00,,,,,0,00,,,M,,M,,*4C : NMEA Update: $GPGGA,193618.19,3642.7213,N,-12211.1639,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1849.993267 : TerrainNav update at dvl time = 1849.993267 : _navData-> (x,y) = (4063236.01, 572693.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193619.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193619.19,3642.7218,N,-12211.1639,W,1,03,00.5,119.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1849.99 : 47.00 : Estimated East Bias at time = 1849.99 : 47.00 : Estimated Depth Bias at time = 1849.99 : 0.00 : Estimated northing and easting = 4063283.01 : 572740.68 : AshtechGps::processRecord() - $GPGGA,193620.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193620.19,3642.7223,N,-12211.1640,W,1,03,00.5,117.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,193621.00,,,,,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,193621.19,3642.7228,N,-12211.1642,W,1,03,00.5,117.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,193622.00,,,,,0,00,,,M,,M,,*45 : NMEA Update: $GPGGA,193622.19,3642.7234,N,-12211.1645,W,1,03,00.5,117.2,M,-99.9,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 : AshtechGps::processRecord() - $GPGGA,193623.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193623.19,3642.7238,N,-12211.1648,W,1,03,00.5,116.2,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,193624.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193624.19,3642.7243,N,-12211.1652,W,1,03,00.5,115.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193625.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193625.19,3642.7247,N,-12211.1656,W,1,03,00.5,114.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193626.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193626.19,3642.7251,N,-12211.1660,W,1,03,00.5,114.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193627.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193627.19,3642.7254,N,-12211.1666,W,1,03,00.5,113.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,193628.00,,,,,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,193628.19,3642.7257,N,-12211.1671,W,1,03,00.5,113.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 1860.002581 : TerrainNav update at dvl time = 1860.002581 : _navData-> (x,y) = (4063243.83, 572688.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193629.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193629.19,3642.7259,N,-12211.1677,W,1,03,00.5,113.1,M,-99.9,M,,*41 : Estimated North Bias at time = 1860.00 : 47.00 : Estimated East Bias at time = 1860.00 : 47.00 : Estimated Depth Bias at time = 1860.00 : 0.00 : Estimated northing and easting = 4063290.83 : 572735.28 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193630.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193630.19,3642.7261,N,-12211.1683,W,1,03,00.5,110.8,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,193631.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193631.19,3642.7262,N,-12211.1689,W,1,03,00.5,110.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193632.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193632.19,3642.7262,N,-12211.1695,W,1,03,00.5,109.6,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,193633.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193633.19,3642.7262,N,-12211.1701,W,1,03,00.5,109.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193634.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193634.19,3642.7261,N,-12211.1707,W,1,03,00.5,109.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193635.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193635.19,3642.7259,N,-12211.1713,W,1,03,00.5,109.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193636.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193636.19,3642.7257,N,-12211.1719,W,1,03,00.5,109.3,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,193637.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193637.19,3642.7254,N,-12211.1724,W,1,03,00.5,108.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193638.00,,,,,0,00,,,M,,M,,*4E : NMEA Update: $GPGGA,193638.19,3642.7251,N,-12211.1728,W,1,03,00.5,108.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1870.001896 : TerrainNav update at dvl time = 1870.001896 : _navData-> (x,y) = (4063241.86, 572679.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193639.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193639.19,3642.7247,N,-12211.1732,W,1,03,00.5,107.9,M,-99.9,M,,*42 : Estimated North Bias at time = 1870.00 : 47.00 : Estimated East Bias at time = 1870.00 : 47.00 : Estimated Depth Bias at time = 1870.00 : 0.00 : Estimated northing and easting = 4063288.86 : 572726.96 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193640.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193640.19,3642.7242,N,-12211.1735,W,1,03,00.5,107.4,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,193641.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193641.19,3642.7238,N,-12211.1737,W,1,03,00.5,106.3,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193642.00,,,,,0,00,,,M,,M,,*43 : NMEA Update: $GPGGA,193642.19,3642.7233,N,-12211.1739,W,1,03,00.5,107.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193643.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193643.19,3642.7228,N,-12211.1739,W,1,03,00.5,107.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193644.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193644.19,3642.7223,N,-12211.1739,W,1,03,00.5,107.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193645.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193645.19,3642.7218,N,-12211.1738,W,1,03,00.5,105.4,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193646.19,3642.7213,N,-12211.1736,W,1,03,00.5,105.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,193646.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193647.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193647.19,3642.7208,N,-12211.1733,W,1,03,00.5,105.2,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,193648.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193648.19,3642.7204,N,-12211.1729,W,1,03,00.5,105.4,M,-99.9,M,,*46 : TerrainNav update at nav time = 1880.001211 : TerrainNav update at dvl time = 1880.001211 : _navData-> (x,y) = (4063233.25, 572680.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193649.00,,,,,0,00,,,M,,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193649.19,3642.7200,N,-12211.1724,W,1,03,00.5,105.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1880.00 : 48.00 : Estimated East Bias at time = 1880.00 : 48.00 : Estimated Depth Bias at time = 1880.00 : 0.00 : Estimated northing and easting = 4063281.25 : 572728.67 : NMEA Update: $GPGGA,193650.19,3642.7197,N,-12211.1719,W,1,03,00.5,104.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193650.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193651.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193651.19,3642.7195,N,-12211.1714,W,1,03,00.5,103.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193652.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193652.19,3642.7193,N,-12211.1708,W,1,03,00.5,105.2,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193653.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193653.19,3642.7192,N,-12211.1701,W,1,03,00.5,105.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193654.19,3642.7191,N,-12211.1695,W,1,03,00.5,105.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193654.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193655.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193655.19,3642.7192,N,-12211.1688,W,1,03,00.5,105.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193656.00,,,,,0,00,,,M,,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193656.19,3642.7193,N,-12211.1682,W,1,03,00.5,105.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193657.00,,,,,0,00,,,M,,M,,*47 : NMEA Update: $GPGGA,193657.19,3642.7195,N,-12211.1675,W,1,03,00.5,104.9,M,-99.9,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,193658.18,3642.7198,N,-12211.1669,W,1,03,00.5,104.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,193658.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1890.000526 : TerrainNav update at dvl time = 1890.000526 : _navData-> (x,y) = (4063232.96, 572689.73) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193659.00,,,,,0,00,,,M,,M,,*49 : NMEA Update: $GPGGA,193659.18,3642.7201,N,-12211.1663,W,1,03,00.5,104.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1890.00 : 48.00 : Estimated East Bias at time = 1890.00 : 48.00 : Estimated Depth Bias at time = 1890.00 : 0.00 : Estimated northing and easting = 4063280.96 : 572737.73 : AshtechGps::processRecord() - $GPGGA,193700.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193700.18,3642.7205,N,-12211.1659,W,1,03,00.5,103.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193701.18,3642.7208,N,-12211.1654,W,1,03,00.5,102.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,193701.00,,,,,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,193702.18,3642.7213,N,-12211.1651,W,1,03,00.5,103.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193702.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193703.00,,,,,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,193703.18,3642.7217,N,-12211.1648,W,1,03,00.5,103.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193704.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193704.18,3642.7223,N,-12211.1646,W,1,03,00.5,103.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193705.18,3642.7228,N,-12211.1645,W,1,03,00.5,102.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193705.00,,,,,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,193706.18,3642.7233,N,-12211.1644,W,1,03,00.5,102.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,193706.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193707.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193707.18,3642.7238,N,-12211.1644,W,1,03,00.5,103.1,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,193708.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193708.18,3642.7244,N,-12211.1644,W,1,03,00.5,101.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1899.999841 : TerrainNav update at dvl time = 1899.999841 : _navData-> (x,y) = (4063241.73, 572692.70) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1900.00 : 48.00 : NMEA Update: $GPGGA,193709.18,3642.7249,N,-12211.1646,W,1,03,00.5,101.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193709.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 1900.00 : 48.00 : Estimated Depth Bias at time = 1900.00 : 0.00 : Estimated northing and easting = 4063289.73 : 572740.70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193710.18,3642.7255,N,-12211.1647,W,1,03,00.5,099.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193710.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193711.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193711.18,3642.7260,N,-12211.1650,W,1,03,00.5,101.0,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,193712.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193712.18,3642.7264,N,-12211.1653,W,1,03,00.5,100.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193713.18,3642.7269,N,-12211.1657,W,1,03,00.5,099.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,193713.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193714.18,3642.7273,N,-12211.1661,W,1,03,00.5,098.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,193714.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193715.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193715.18,3642.7277,N,-12211.1666,W,1,03,00.5,097.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193716.18,3642.7280,N,-12211.1671,W,1,03,00.5,095.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193716.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193717.18,3642.7282,N,-12211.1677,W,1,03,00.5,095.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,193717.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193718.18,3642.7284,N,-12211.1683,W,1,03,00.5,094.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193718.00,,,,,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 : TerrainNav update at nav time = 1909.999156 : TerrainNav update at dvl time = 1909.999156 : _navData-> (x,y) = (4063248.69, 572686.50) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1910.00 : 48.00 : AshtechGps::processRecord() - $GPGGA,193719.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193719.18,3642.7285,N,-12211.1689,W,1,03,00.5,094.5,M,-99.9,M,,*48 : Estimated East Bias at time = 1910.00 : 48.00 : Estimated Depth Bias at time = 1910.00 : 0.00 : Estimated northing and easting = 4063296.69 : 572734.50 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193720.00,,,,,0,00,,,M,,M,,*46 : NMEA Update: $GPGGA,193720.18,3642.7286,N,-12211.1695,W,1,03,00.5,094.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193721.18,3642.7286,N,-12211.1701,W,1,03,00.5,094.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193721.00,,,,,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,193722.18,3642.7285,N,-12211.1707,W,1,03,00.5,093.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193722.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193723.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193723.18,3642.7284,N,-12211.1713,W,1,03,00.5,093.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193724.18,3642.7282,N,-12211.1718,W,1,03,00.5,093.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193724.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193725.18,3642.7279,N,-12211.1723,W,1,03,00.5,093.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,193725.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193726.18,3642.7276,N,-12211.1728,W,1,03,00.5,091.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,193726.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193727.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193727.18,3642.7272,N,-12211.1732,W,1,03,00.5,091.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193728.18,3642.7268,N,-12211.1736,W,1,03,00.5,090.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,193728.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1919.998471 : TerrainNav update at dvl time = 1919.998471 : _navData-> (x,y) = (4063245.08, 572678.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193729.18,3642.7264,N,-12211.1738,W,1,03,00.5,089.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193729.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1920.00 : 49.00 : Estimated East Bias at time = 1920.00 : 49.00 : Estimated Depth Bias at time = 1920.00 : 0.00 : Estimated northing and easting = 4063294.08 : 572727.90 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193730.18,3642.7259,N,-12211.1740,W,1,03,00.5,088.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,193730.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193731.00,,,,,0,00,,,M,,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193731.18,3642.7254,N,-12211.1742,W,1,03,00.5,088.2,M,-99.9,M,,*42 : NMEA Update: $GPGGA,193732.18,3642.7249,N,-12211.1742,W,1,03,00.5,088.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193732.00,,,,,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,193733.18,3642.7244,N,-12211.1741,W,1,03,00.5,089.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193733.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193734.18,3642.7240,N,-12211.1740,W,1,03,00.5,089.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,193734.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193735.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193735.18,3642.7235,N,-12211.1737,W,1,03,00.5,089.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193736.18,3642.7230,N,-12211.1734,W,1,03,00.5,089.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193736.00,,,,,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,193737.18,3642.7226,N,-12211.1730,W,1,03,00.5,090.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193737.00,,,,,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,193738.18,3642.7223,N,-12211.1725,W,1,03,00.5,089.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193738.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1929.997786 : TerrainNav update at dvl time = 1929.997786 : _navData-> (x,y) = (4063236.88, 572681.38) : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193739.00,,,,,0,00,,,M,,M,,*4E : NMEA Update: $GPGGA,193739.18,3642.7220,N,-12211.1719,W,1,03,00.5,090.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1930.00 : 49.00 : Estimated East Bias at time = 1930.00 : 49.00 : Estimated Depth Bias at time = 1930.00 : 0.00 : Estimated northing and easting = 4063285.88 : 572730.38 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193740.18,3642.7218,N,-12211.1713,W,1,03,00.5,090.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193740.00,,,,,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,193741.18,3642.7217,N,-12211.1706,W,1,03,00.5,089.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,193741.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193742.18,3642.7216,N,-12211.1699,W,1,03,00.5,090.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193742.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193743.00,,,,,0,00,,,M,,M,,*43 : NMEA Update: $GPGGA,193743.18,3642.7216,N,-12211.1692,W,1,03,00.5,088.8,M,-99.9,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,193744.18,3642.7217,N,-12211.1686,W,1,03,00.5,088.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,193744.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193745.18,3642.7218,N,-12211.1679,W,1,03,00.5,088.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,193745.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193746.18,3642.7220,N,-12211.1672,W,1,03,00.5,088.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,193746.00,,,,,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,193747.18,3642.7223,N,-12211.1666,W,1,03,00.5,088.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,193747.00,,,,,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,193748.18,3642.7227,N,-12211.1661,W,1,03,00.5,087.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193748.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1939.997101 : TerrainNav update at dvl time = 1939.997101 : _navData-> (x,y) = (4063238.34, 572690.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193749.18,3642.7230,N,-12211.1655,W,1,03,00.5,087.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193749.00,,,,,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 : Estimated North Bias at time = 1940.00 : 48.00 : Estimated East Bias at time = 1940.00 : 48.00 : Estimated Depth Bias at time = 1940.00 : 0.00 : Estimated northing and easting = 4063286.34 : 572738.88 : NMEA Update: $GPGGA,193750.18,3642.7235,N,-12211.1651,W,1,03,00.5,087.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,193750.00,,,,,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,193751.18,3642.7240,N,-12211.1647,W,1,03,00.5,087.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193751.00,,,,,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,193752.18,3642.7245,N,-12211.1644,W,1,03,00.5,087.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193752.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193753.18,3642.7250,N,-12211.1642,W,1,03,00.5,087.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193753.00,,,,,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,193754.18,3642.7255,N,-12211.1640,W,1,03,00.5,086.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,193754.00,,,,,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,193755.18,3642.7261,N,-12211.1639,W,1,03,00.5,085.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193755.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193756.18,3642.7266,N,-12211.1639,W,1,03,00.5,084.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193756.00,,,,,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,193757.18,3642.7272,N,-12211.1639,W,1,03,00.5,086.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,193757.00,,,,,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,193758.18,3642.7277,N,-12211.1640,W,1,03,00.5,083.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,193758.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1949.996416 : TerrainNav update at dvl time = 1949.996416 : _navData-> (x,y) = (4063247.90, 572693.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193759.18,3642.7283,N,-12211.1642,W,1,03,00.5,084.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193759.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1950.00 : 48.00 : Estimated East Bias at time = 1950.00 : 48.00 : Estimated Depth Bias at time = 1950.00 : 0.00 : Estimated northing and easting = 4063295.90 : 572741.17 : NMEA Update: $GPGGA,193800.18,3642.7288,N,-12211.1645,W,1,03,00.5,083.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193800.00,,,,,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,193801.18,3642.7292,N,-12211.1648,W,1,03,00.5,083.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193801.00,,,,,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,193802.18,3642.7297,N,-12211.1651,W,1,03,00.5,083.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,193802.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193803.18,3642.7301,N,-12211.1656,W,1,03,00.5,081.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193803.00,,,,,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,193804.18,3642.7305,N,-12211.1660,W,1,03,00.5,080.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193804.00,,,,,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,193805.18,3642.7308,N,-12211.1665,W,1,03,00.5,079.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193805.00,,,,,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,193806.18,3642.7310,N,-12211.1671,W,1,03,00.5,079.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193806.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193807.18,3642.7312,N,-12211.1677,W,1,03,00.5,079.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193807.00,,,,,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,193808.18,3642.7313,N,-12211.1682,W,1,03,00.5,078.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,193808.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1959.995731 : TerrainNav update at dvl time = 1959.995731 : _navData-> (x,y) = (4063254.06, 572686.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193809.18,3642.7314,N,-12211.1689,W,1,03,00.5,078.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193809.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1960.00 : 48.00 : Estimated East Bias at time = 1960.00 : 48.00 : Estimated Depth Bias at time = 1960.00 : 0.00 : Estimated northing and easting = 4063302.06 : 572734.47 : NMEA Update: $GPGGA,193810.18,3642.7314,N,-12211.1695,W,1,03,00.5,078.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,193810.00,,,,,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,193811.18,3642.7314,N,-12211.1701,W,1,03,00.5,077.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,193811.00,,,,,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,193812.18,3642.7312,N,-12211.1706,W,1,03,00.5,077.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,193812.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : stat is 92230 : got a SAN packet : time:70734.640625 : lat:36.7120 lon:-122.1860 : slant range: 1.00 : SNR:15.300000 AGC:45 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71201 lon -122.18597 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193813.18,3642.7207,N,-12211.1581,W,1,03,00.5,076.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,193813.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193814.18,3642.7205,N,-12211.1586,W,1,03,00.5,076.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193814.00,,,,,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,193815.18,3642.7202,N,-12211.1591,W,1,03,00.5,075.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,193815.00,,,,,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,193816.18,3642.7198,N,-12211.1595,W,1,03,00.5,075.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193816.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193817.18,3642.7194,N,-12211.1598,W,1,03,00.5,075.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,193817.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193818.18,3642.7190,N,-12211.1600,W,1,03,00.5,075.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193818.00,,,,,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 : TerrainNav update at nav time = 1969.995046 : TerrainNav update at dvl time = 1969.995046 : _navData-> (x,y) = (4063230.72, 572699.26) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193819.18,3642.7185,N,-12211.1602,W,1,03,00.5,074.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,193819.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193820.18,3642.7180,N,-12211.1603,W,1,03,00.5,074.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193820.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1970.00 : 48.00 : Estimated East Bias at time = 1970.00 : 48.00 : Estimated Depth Bias at time = 1970.00 : 0.00 : Estimated northing and easting = 4063278.72 : 572747.26 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193821.18,3642.7175,N,-12211.1603,W,1,03,00.5,074.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,193821.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193822.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193822.19,3642.7170,N,-12211.1602,W,1,03,00.5,074.4,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,193823.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193823.19,3642.7165,N,-12211.1600,W,1,03,00.5,073.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,193824.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193824.19,3642.7161,N,-12211.1598,W,1,03,00.5,074.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193825.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193825.19,3642.7156,N,-12211.1594,W,1,03,00.5,073.6,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,193826.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193826.19,3642.7152,N,-12211.1590,W,1,03,00.5,073.6,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,193827.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193827.19,3642.7148,N,-12211.1585,W,1,03,00.5,073.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193828.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193828.19,3642.7145,N,-12211.1579,W,1,03,00.5,074.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1979.994361 : TerrainNav update at dvl time = 1979.994361 : _navData-> (x,y) = (4063222.73, 572703.24) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1979.99 : 48.00 : Estimated East Bias at time = 1979.99 : 48.00 : Estimated Depth Bias at time = 1979.99 : 0.00 : Estimated northing and easting = 4063270.73 : 572751.24 : AshtechGps::processRecord() - $GPGGA,193829.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193829.19,3642.7143,N,-12211.1573,W,1,03,00.5,074.2,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,193830.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193830.19,3642.7141,N,-12211.1566,W,1,03,00.5,074.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,193831.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193831.19,3642.7140,N,-12211.1559,W,1,03,00.5,073.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193832.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193832.19,3642.7140,N,-12211.1552,W,1,03,00.5,073.4,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,193833.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193833.19,3642.7141,N,-12211.1544,W,1,03,00.5,073.0,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193834.00,,,,,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,193834.19,3642.7142,N,-12211.1537,W,1,03,00.5,073.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,193835.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193835.19,3642.7144,N,-12211.1530,W,1,03,00.5,073.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193836.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193836.19,3642.7147,N,-12211.1524,W,1,03,00.5,073.1,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,193837.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193837.19,3642.7150,N,-12211.1518,W,1,03,00.5,072.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193838.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193838.19,3642.7154,N,-12211.1512,W,1,03,00.5,072.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1989.993676 : TerrainNav update at dvl time = 1989.993676 : _navData-> (x,y) = (4063225.15, 572713.01) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193839.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193839.19,3642.7158,N,-12211.1507,W,1,03,00.5,071.9,M,-99.9,M,,*45 : Estimated North Bias at time = 1989.99 : 48.00 : Estimated East Bias at time = 1989.99 : 48.00 : Estimated Depth Bias at time = 1989.99 : 0.00 : Estimated northing and easting = 4063273.15 : 572761.01 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193840.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193840.19,3642.7163,N,-12211.1503,W,1,03,00.5,071.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,193841.00,,,,,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,193841.19,3642.7168,N,-12211.1500,W,1,03,00.5,071.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,193842.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193842.19,3642.7173,N,-12211.1497,W,1,03,00.5,070.8,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,193843.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193843.19,3642.7179,N,-12211.1495,W,1,03,00.5,070.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193844.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193844.19,3642.7184,N,-12211.1494,W,1,03,00.5,069.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,193845.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193845.19,3642.7190,N,-12211.1493,W,1,03,00.5,068.2,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,193846.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193846.19,3642.7195,N,-12211.1494,W,1,03,00.5,068.0,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,193847.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193847.19,3642.7200,N,-12211.1495,W,1,03,00.5,068.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193848.00,,,,,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,193848.19,3642.7205,N,-12211.1497,W,1,03,00.5,067.4,M,-99.9,M,,*4a : TerrainNav update at nav time = 2000.002990 : TerrainNav update at dvl time = 2000.002990 : _navData-> (x,y) = (4063234.75, 572714.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193849.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193849.19,3642.7210,N,-12211.1499,W,1,03,00.5,067.3,M,-99.9,M,,*46 : Estimated North Bias at time = 2000.00 : 47.00 : Estimated East Bias at time = 2000.00 : 47.00 : Estimated Depth Bias at time = 2000.00 : 0.00 : Estimated northing and easting = 4063281.75 : 572761.62 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193850.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193850.19,3642.7215,N,-12211.1502,W,1,03,00.5,066.3,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,193851.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193851.19,3642.7219,N,-12211.1506,W,1,03,00.5,065.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,193852.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193852.19,3642.7222,N,-12211.1510,W,1,03,00.5,065.3,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,193853.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193853.19,3642.7226,N,-12211.1515,W,1,03,00.5,065.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193854.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193854.19,3642.7228,N,-12211.1520,W,1,03,00.5,064.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193855.00,,,,,0,00,,,M,,M,,*4B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193855.19,3642.7230,N,-12211.1526,W,1,03,00.5,063.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193856.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193856.19,3642.7232,N,-12211.1532,W,1,03,00.5,062.4,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,193857.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193857.19,3642.7233,N,-12211.1538,W,1,03,00.5,061.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193858.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193858.19,3642.7233,N,-12211.1544,W,1,03,00.5,062.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 2010.002306 : TerrainNav update at dvl time = 2010.002306 : _navData-> (x,y) = (4063239.23, 572707.25) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2010.00 : 48.00 : Estimated East Bias at time = 2010.00 : 48.00 : AshtechGps::processRecord() - $GPGGA,193859.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193859.19,3642.7233,N,-12211.1550,W,1,03,00.5,061.3,M,-99.9,M,,*44 : Estimated Depth Bias at time = 2010.00 : 0.00 : Estimated northing and easting = 4063287.23 : 572755.25 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193900.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193900.19,3642.7231,N,-12211.1555,W,1,03,00.5,061.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193901.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193901.19,3642.7230,N,-12211.1561,W,1,03,00.5,059.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193902.00,,,,,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,193902.19,3642.7227,N,-12211.1566,W,1,03,00.5,060.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193903.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193903.19,3642.7224,N,-12211.1571,W,1,03,00.5,059.6,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,193904.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193904.19,3642.7221,N,-12211.1575,W,1,03,00.5,059.2,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,193905.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193905.19,3642.7217,N,-12211.1579,W,1,03,00.5,060.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,193906.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193906.19,3642.7212,N,-12211.1582,W,1,03,00.5,058.2,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,193907.00,,,,,0,00,,,M,,M,,*4D : NMEA Update: $GPGGA,193907.19,3642.7208,N,-12211.1584,W,1,03,00.5,058.8,M,-99.9,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193908.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193908.19,3642.7202,N,-12211.1586,W,1,03,00.5,058.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 2020.001620 : TerrainNav update at dvl time = 2020.001620 : _navData-> (x,y) = (4063232.98, 572701.51) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2020.00 : 48.00 : Estimated East Bias at time = 2020.00 : 48.00 : Estimated Depth Bias at time = 2020.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,193909.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193909.19,3642.7197,N,-12211.1587,W,1,03,00.5,058.0,M,-99.9,M,,*4e : Estimated northing and easting = 4063280.98 : 572749.51 : AshtechGps::processRecord() - $GPGGA,193910.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193910.19,3642.7192,N,-12211.1586,W,1,03,00.5,058.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193911.19,3642.7187,N,-12211.1585,W,1,03,00.5,057.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,193911.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193912.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193912.19,3642.7181,N,-12211.1583,W,1,03,00.5,057.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193913.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193913.19,3642.7176,N,-12211.1580,W,1,03,00.5,057.4,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,193914.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193914.19,3642.7172,N,-12211.1577,W,1,03,00.5,057.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193915.19,3642.7168,N,-12211.1572,W,1,03,00.5,057.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,193915.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193916.00,,,,,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,193916.19,3642.7164,N,-12211.1567,W,1,03,00.5,057.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193917.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193917.19,3642.7161,N,-12211.1561,W,1,03,00.5,057.0,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,193918.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193918.19,3642.7158,N,-12211.1555,W,1,03,00.5,056.7,M,-99.9,M,,*4b : TerrainNav update at nav time = 2030.000935 : TerrainNav update at dvl time = 2030.000935 : _navData-> (x,y) = (4063225.23, 572706.85) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193919.19,3642.7157,N,-12211.1548,W,1,03,00.5,057.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,193919.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2030.00 : 48.00 : Estimated East Bias at time = 2030.00 : 48.00 : Estimated Depth Bias at time = 2030.00 : 0.00 : Estimated northing and easting = 4063273.23 : 572754.85 : AshtechGps::processRecord() - $GPGGA,193920.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193920.19,3642.7155,N,-12211.1541,W,1,03,00.5,057.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193921.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193921.19,3642.7155,N,-12211.1534,W,1,03,00.5,057.1,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,193922.00,,,,,0,00,,,M,,M,,*4A : NMEA Update: $GPGGA,193922.19,3642.7156,N,-12211.1527,W,1,03,00.5,056.5,M,-99.9,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,193923.19,3642.7157,N,-12211.1520,W,1,03,00.5,056.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193923.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,193924.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193924.18,3642.7159,N,-12211.1514,W,1,03,00.5,056.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193925.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193925.18,3642.7162,N,-12211.1507,W,1,03,00.5,055.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193926.00,,,,,0,00,,,M,,M,,*4E : NMEA Update: $GPGGA,193926.18,3642.7165,N,-12211.1502,W,1,03,00.5,055.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193927.18,3642.7169,N,-12211.1496,W,1,03,00.5,054.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193927.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193928.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193928.18,3642.7173,N,-12211.1492,W,1,03,00.5,054.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2040.000250 : TerrainNav update at dvl time = 2040.000250 : _navData-> (x,y) = (4063228.77, 572715.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,193929.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193929.18,3642.7178,N,-12211.1488,W,1,03,00.5,054.4,M,-99.9,M,,*4a : Estimated North Bias at time = 2040.00 : 48.00 : Estimated East Bias at time = 2040.00 : 48.00 : Estimated Depth Bias at time = 2040.00 : 0.00 : Estimated northing and easting = 4063276.77 : 572763.99 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193930.18,3642.7183,N,-12211.1484,W,1,03,00.5,053.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193930.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193931.18,3642.7188,N,-12211.1482,W,1,03,00.5,053.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,193931.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193932.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193932.18,3642.7193,N,-12211.1480,W,1,03,00.5,053.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193933.18,3642.7198,N,-12211.1479,W,1,03,00.5,051.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,193933.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193934.18,3642.7203,N,-12211.1479,W,1,03,00.5,051.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,193934.00,,,,,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,193935.18,3642.7208,N,-12211.1479,W,1,03,00.5,051.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193935.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193936.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193936.18,3642.7213,N,-12211.1480,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193937.00,,,,,0,00,,,M,,M,,*4E : NMEA Update: $GPGGA,193937.18,3642.7218,N,-12211.1482,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193938.18,3642.7223,N,-12211.1485,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,193938.00,,,,,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 : TerrainNav update at nav time = 2049.999565 : TerrainNav update at dvl time = 2049.999565 : _navData-> (x,y) = (4063238.00, 572716.28) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193939.18,3642.7227,N,-12211.1488,W,1,03,00.5,048.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193939.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2050.00 : 48.00 : Estimated East Bias at time = 2050.00 : 48.00 : Estimated Depth Bias at time = 2050.00 : 0.00 : Estimated northing and easting = 4063286.00 : 572764.28 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,193940.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193940.18,3642.7232,N,-12211.1492,W,1,03,00.5,049.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193941.00,,,,,0,00,,,M,,M,,*4F : NMEA Update: $GPGGA,193941.18,3642.7235,N,-12211.1497,W,1,03,00.5,047.8,M,-99.9,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,193942.18,3642.7238,N,-12211.1502,W,1,03,00.5,047.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193942.00,,,,,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,193943.18,3642.7241,N,-12211.1508,W,1,03,00.5,046.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,193943.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193944.00,,,,,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,193944.18,3642.7243,N,-12211.1514,W,1,03,00.5,046.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193945.00,,,,,0,00,,,M,,M,,*4B : NMEA Update: $GPGGA,193945.18,3642.7244,N,-12211.1520,W,1,03,00.5,045.6,M,-99.9,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,193946.18,3642.7245,N,-12211.1526,W,1,03,00.5,045.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,193946.00,,,,,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,193947.18,3642.7245,N,-12211.1532,W,1,03,00.5,044.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193947.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193948.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193948.18,3642.7245,N,-12211.1538,W,1,03,00.5,044.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2059.998880 : TerrainNav update at dvl time = 2059.998880 : _navData-> (x,y) = (4063241.37, 572707.99) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193949.18,3642.7244,N,-12211.1545,W,1,03,00.5,044.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,193949.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2060.00 : 49.00 : Estimated East Bias at time = 2060.00 : 49.00 : Estimated Depth Bias at time = 2060.00 : 0.00 : Estimated northing and easting = 4063290.37 : 572756.99 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193950.18,3642.7242,N,-12211.1551,W,1,03,00.5,043.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,193950.00,,,,,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,193951.18,3642.7240,N,-12211.1556,W,1,03,00.5,043.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,193951.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,193952.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193952.18,3642.7237,N,-12211.1561,W,1,03,00.5,043.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,193953.18,3642.7234,N,-12211.1566,W,1,03,00.5,043.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193953.00,,,,,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,193954.18,3642.7230,N,-12211.1571,W,1,03,00.5,042.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193954.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193955.18,3642.7226,N,-12211.1575,W,1,03,00.5,042.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,193955.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,193956.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,193956.18,3642.7221,N,-12211.1578,W,1,03,00.5,042.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,193957.18,3642.7216,N,-12211.1580,W,1,03,00.5,041.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,193957.00,,,,,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,193958.18,3642.7211,N,-12211.1581,W,1,03,00.5,041.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,193958.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2069.998195 : TerrainNav update at dvl time = 2069.998195 : _navData-> (x,y) = (4063234.65, 572702.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,193959.18,3642.7206,N,-12211.1581,W,1,03,00.5,041.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,193959.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2070.00 : 49.00 : Estimated East Bias at time = 2070.00 : 49.00 : Estimated Depth Bias at time = 2070.00 : 0.00 : Estimated northing and easting = 4063283.65 : 572751.25 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194000.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194000.18,3642.7201,N,-12211.1581,W,1,03,00.5,041.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194001.18,3642.7196,N,-12211.1580,W,1,03,00.5,040.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194001.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194002.18,3642.7192,N,-12211.1577,W,1,03,00.5,040.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194002.00,,,,,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,194003.18,3642.7187,N,-12211.1574,W,1,03,00.5,040.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194003.00,,,,,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 : AshtechGps::processRecord() - $GPGGA,194004.00,,,,,0,00,,,M,,M,,*40 : NMEA Update: $GPGGA,194004.18,3642.7183,N,-12211.1569,W,1,03,00.5,039.9,M,-99.9,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,194005.18,3642.7179,N,-12211.1565,W,1,03,00.5,039.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194005.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194006.18,3642.7176,N,-12211.1559,W,1,03,00.5,039.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194006.00,,,,,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,194007.18,3642.7174,N,-12211.1554,W,1,03,00.5,039.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194007.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194008.00,,,,,0,00,,,M,,M,,*4C : NMEA Update: $GPGGA,194008.18,3642.7172,N,-12211.1548,W,1,03,00.5,039.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2079.997510 : TerrainNav update at dvl time = 2079.997510 : _navData-> (x,y) = (4063227.87, 572707.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194009.18,3642.7171,N,-12211.1542,W,1,03,00.5,039.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194009.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2080.00 : 49.00 : Estimated East Bias at time = 2080.00 : 49.00 : Estimated Depth Bias at time = 2080.00 : 0.00 : Estimated northing and easting = 4063276.87 : 572756.83 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194010.18,3642.7173,N,-12211.1534,W,1,03,00.5,038.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194010.00,,,,,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,194011.18,3642.7173,N,-12211.1527,W,1,03,00.5,038.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194011.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194012.18,3642.7174,N,-12211.1521,W,1,03,00.5,038.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194012.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194013.18,3642.7176,N,-12211.1515,W,1,03,00.5,037.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194013.00,,,,,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,194014.18,3642.7178,N,-12211.1510,W,1,03,00.5,037.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194014.00,,,,,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,194015.18,3642.7181,N,-12211.1504,W,1,03,00.5,037.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194015.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194016.18,3642.7185,N,-12211.1499,W,1,03,00.5,037.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194016.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194017.18,3642.7189,N,-12211.1495,W,1,03,00.5,037.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194017.00,,,,,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 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194018.18,3642.7193,N,-12211.1492,W,1,03,00.5,036.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194018.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2089.996825 : TerrainNav update at dvl time = 2089.996825 : _navData-> (x,y) = (4063232.56, 572715.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194019.18,3642.7198,N,-12211.1488,W,1,03,00.5,035.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194019.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2090.00 : 49.00 : Estimated East Bias at time = 2090.00 : 49.00 : Estimated Depth Bias at time = 2090.00 : 0.00 : Estimated northing and easting = 4063281.56 : 572764.89 : NMEA Update: $GPGGA,194020.18,3642.7203,N,-12211.1486,W,1,03,00.5,035.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194020.00,,,,,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,194021.18,3642.7209,N,-12211.1484,W,1,03,00.5,035.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194021.00,,,,,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,194022.18,3642.7214,N,-12211.1483,W,1,03,00.5,035.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194022.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194023.18,3642.7219,N,-12211.1482,W,1,03,00.5,035.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194023.00,,,,,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,194024.18,3642.7224,N,-12211.1483,W,1,03,00.5,034.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194024.00,,,,,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,194025.18,3642.7230,N,-12211.1484,W,1,03,00.5,034.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194025.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194026.18,3642.7234,N,-12211.1485,W,1,03,00.5,033.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194026.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194027.18,3642.7239,N,-12211.1488,W,1,03,00.5,033.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194027.00,,,,,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,194028.18,3642.7243,N,-12211.1491,W,1,03,00.5,032.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194028.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2099.996140 : TerrainNav update at dvl time = 2099.996140 : _navData-> (x,y) = (4063241.72, 572715.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194029.18,3642.7247,N,-12211.1495,W,1,03,00.5,032.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194029.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2100.00 : 49.00 : Estimated East Bias at time = 2100.00 : 49.00 : Estimated Depth Bias at time = 2100.00 : 0.00 : Estimated northing and easting = 4063290.72 : 572764.32 : NMEA Update: $GPGGA,194030.18,3642.7251,N,-12211.1499,W,1,03,00.5,031.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194030.00,,,,,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,194031.18,3642.7254,N,-12211.1503,W,1,03,00.5,031.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194031.00,,,,,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,194032.18,3642.7257,N,-12211.1508,W,1,03,00.5,031.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194032.00,,,,,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,194033.18,3642.7259,N,-12211.1514,W,1,03,00.5,030.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194033.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194034.18,3642.7260,N,-12211.1520,W,1,03,00.5,029.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194034.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194035.18,3642.7261,N,-12211.1525,W,1,03,00.5,029.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194035.00,,,,,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,194036.18,3642.7261,N,-12211.1532,W,1,03,00.5,029.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194036.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194037.18,3642.7261,N,-12211.1538,W,1,03,00.5,028.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194037.00,,,,,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,194038.18,3642.7260,N,-12211.1543,W,1,03,00.5,028.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194038.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2109.995456 : TerrainNav update at dvl time = 2109.995456 : _navData-> (x,y) = (4063244.08, 572707.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194039.18,3642.7258,N,-12211.1549,W,1,03,00.5,027.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194039.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2110.00 : 49.00 : Estimated East Bias at time = 2110.00 : 49.00 : Estimated Depth Bias at time = 2110.00 : 0.00 : Estimated northing and easting = 4063293.08 : 572756.27 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194040.18,3642.7256,N,-12211.1555,W,1,03,00.5,027.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194040.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194041.18,3642.7253,N,-12211.1560,W,1,03,00.5,027.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194041.00,,,,,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,194042.18,3642.7250,N,-12211.1564,W,1,03,00.5,027.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194042.00,,,,,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,194043.18,3642.7246,N,-12211.1568,W,1,03,00.5,026.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194043.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194044.18,3642.7242,N,-12211.1571,W,1,03,00.5,026.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194044.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194045.18,3642.7237,N,-12211.1574,W,1,03,00.5,026.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194045.00,,,,,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,194046.18,3642.7232,N,-12211.1576,W,1,03,00.5,026.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194046.00,,,,,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,194047.18,3642.7227,N,-12211.1577,W,1,03,00.5,025.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194047.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194048.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194048.19,3642.7221,N,-12211.1577,W,1,03,00.5,025.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2119.994770 : TerrainNav update at dvl time = 2119.994770 : _navData-> (x,y) = (4063236.48, 572702.87) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194049.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194049.19,3642.7216,N,-12211.1577,W,1,03,00.5,025.1,M,-99.9,M,,*4a : Estimated North Bias at time = 2119.99 : 49.00 : Estimated East Bias at time = 2119.99 : 49.00 : Estimated Depth Bias at time = 2119.99 : 0.00 : Estimated northing and easting = 4063285.48 : 572751.87 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194050.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194050.19,3642.7211,N,-12211.1575,W,1,03,00.5,025.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194051.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194051.19,3642.7205,N,-12211.1573,W,1,03,00.5,024.8,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,194052.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194052.19,3642.7201,N,-12211.1570,W,1,03,00.5,024.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194053.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194053.19,3642.7196,N,-12211.1566,W,1,03,00.5,024.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194054.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194054.19,3642.7192,N,-12211.1561,W,1,03,00.5,023.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194055.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194055.19,3642.7188,N,-12211.1556,W,1,03,00.5,023.8,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,194056.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194056.19,3642.7185,N,-12211.1550,W,1,03,00.5,023.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194057.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194057.19,3642.7183,N,-12211.1544,W,1,03,00.5,023.3,M,-99.9,M,,*4e : Descend::execute() - Descend terminating on altitude 13.922240 < 15.000000 at time 2176.200920 : Descend::execute() - Descend terminating on altitude 13.922240 < 15.000000 at time 2176.400906 : AshtechGps::processRecord() - $GPGGA,194058.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 13.922240 < 15.000000 at time 2176.600893 : NMEA Update: $GPGGA,194058.19,3642.7182,N,-12211.1537,W,1,03,00.5,013.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2129.994085 : TerrainNav update at dvl time = 2129.994085 : _navData-> (x,y) = (4063229.68, 572709.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194059.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 13.615856 < 15.000000 at time 2177.600824 : NMEA Update: $GPGGA,194059.19,3642.7181,N,-12211.1532,W,1,03,00.5,013.6,M,-99.9,M,,*45 : Descend::execute() - Descend terminating on altitude 13.615856 < 15.000000 at time 2177.800810 : Estimated North Bias at time = 2129.99 : 49.00 : Estimated East Bias at time = 2129.99 : 49.00 : Estimated Depth Bias at time = 2129.99 : 0.00 : Estimated northing and easting = 4063278.68 : 572758.44 : Descend::execute() - Descend terminating on altitude 13.615856 < 15.000000 at time 2178.000797 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194100.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194100.19,3642.7181,N,-12211.1528,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,194101.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194101.19,3642.7182,N,-12211.1521,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,194102.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194102.19,3642.7183,N,-12211.1514,W,1,03,00.5,021.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194103.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194103.19,3642.7185,N,-12211.1508,W,1,03,00.5,021.2,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,194104.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194104.19,3642.7188,N,-12211.1502,W,1,03,00.5,020.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194105.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194105.19,3642.7192,N,-12211.1497,W,1,03,00.5,020.8,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,194106.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194106.19,3642.7195,N,-12211.1492,W,1,03,00.5,020.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194107.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194107.19,3642.7200,N,-12211.1488,W,1,03,00.5,020.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194108.00,,,,,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,194108.19,3642.7204,N,-12211.1485,W,1,03,00.5,019.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 2139.993400 : TerrainNav update at dvl time = 2139.993400 : _navData-> (x,y) = (4063234.53, 572716.81) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2139.99 : 49.00 : Estimated East Bias at time = 2139.99 : 49.00 : Estimated Depth Bias at time = 2139.99 : 0.00 : Estimated northing and easting = 4063283.53 : 572765.81 : AshtechGps::processRecord() - $GPGGA,194109.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194109.19,3642.7209,N,-12211.1482,W,1,03,00.5,019.3,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,194110.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194110.19,3642.7214,N,-12211.1481,W,1,03,00.5,018.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194111.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194111.19,3642.7219,N,-12211.1480,W,1,03,00.5,018.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194112.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194112.19,3642.7224,N,-12211.1479,W,1,03,00.5,017.9,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,194113.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194113.19,3642.7229,N,-12211.1480,W,1,03,00.5,017.5,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,194114.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194114.19,3642.7234,N,-12211.1481,W,1,03,00.5,017.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194115.00,,,,,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,194115.19,3642.7239,N,-12211.1484,W,1,03,00.5,016.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194116.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194116.19,3642.7243,N,-12211.1486,W,1,03,00.5,016.0,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,194117.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194117.19,3642.7248,N,-12211.1490,W,1,03,00.5,015.7,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,194118.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194118.19,3642.7251,N,-12211.1494,W,1,03,00.5,015.5,M,-99.9,M,,*47 : TerrainNav update at nav time = 2150.002715 : TerrainNav update at dvl time = 2150.002715 : _navData-> (x,y) = (4063243.13, 572714.77) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2150.00 : 49.00 : Estimated East Bias at time = 2150.00 : 49.00 : Estimated Depth Bias at time = 2150.00 : 0.00 : Estimated northing and easting = 4063292.13 : 572763.77 : AshtechGps::processRecord() - $GPGGA,194119.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194119.19,3642.7255,N,-12211.1499,W,1,03,00.5,015.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 14.624866 < 15.000000 at time 2197.999427 : Descend::execute() - Descend terminating on altitude 14.624866 < 15.000000 at time 2198.199413 : Descend::execute() - Descend terminating on altitude 14.624866 < 15.000000 at time 2198.399399 : AshtechGps::processRecord() - $GPGGA,194120.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 14.711850 < 15.000000 at time 2198.599385 : NMEA Update: $GPGGA,194120.19,3642.7258,N,-12211.1504,W,1,03,00.5,014.7,M,-99.9,M,,*4e : Descend::execute() - Descend terminating on altitude 14.711850 < 15.000000 at time 2198.799372 : Descend::execute() - Descend terminating on altitude 14.711850 < 15.000000 at time 2198.999358 : Descend::execute() - Descend terminating on altitude 14.361868 < 15.000000 at time 2199.199344 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 14.361868 < 15.000000 at time 2199.399331 : AshtechGps::processRecord() - $GPGGA,194121.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 14.361868 < 15.000000 at time 2199.599317 : NMEA Update: $GPGGA,194121.19,3642.7261,N,-12211.1509,W,1,03,00.5,014.4,M,-99.9,M,,*4b : Descend::execute() - Descend terminating on altitude 14.179782 < 15.000000 at time 2199.799303 : Descend::execute() - Descend terminating on altitude 14.179782 < 15.000000 at time 2199.999290 : Descend::execute() - Descend terminating on altitude 14.179782 < 15.000000 at time 2200.199276 : Descend::execute() - Descend terminating on altitude 13.917546 < 15.000000 at time 2200.399262 : AshtechGps::processRecord() - $GPGGA,194122.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 13.917546 < 15.000000 at time 2200.599248 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194122.19,3642.7263,N,-12211.1515,W,1,03,00.5,013.9,M,-99.9,M,,*4d : Descend::execute() - Descend terminating on altitude 13.917546 < 15.000000 at time 2200.799235 : Descend::execute() - Descend terminating on altitude 13.810325 < 15.000000 at time 2200.999221 : Descend::execute() - Descend terminating on altitude 13.810325 < 15.000000 at time 2201.199207 : Descend::execute() - Descend terminating on altitude 13.810325 < 15.000000 at time 2201.399194 : AshtechGps::processRecord() - $GPGGA,194123.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 13.590302 < 15.000000 at time 2201.599180 : NMEA Update: $GPGGA,194123.19,3642.7264,N,-12211.1521,W,1,03,00.5,013.6,M,-99.9,M,,*43 : Descend::execute() - Descend terminating on altitude 13.590302 < 15.000000 at time 2201.799166 : Descend::execute() - Descend terminating on altitude 13.590302 < 15.000000 at time 2201.999153 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 13.426652 < 15.000000 at time 2202.199139 : Descend::execute() - Descend terminating on altitude 13.426652 < 15.000000 at time 2202.399125 : AshtechGps::processRecord() - $GPGGA,194124.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 13.426652 < 15.000000 at time 2202.599112 : NMEA Update: $GPGGA,194124.19,3642.7265,N,-12211.1528,W,1,03,00.5,013.4,M,-99.9,M,,*4e : Descend::execute() - Descend terminating on altitude 13.097812 < 15.000000 at time 2202.799098 : Descend::execute() - Descend terminating on altitude 13.097812 < 15.000000 at time 2202.999084 : Descend::execute() - Descend terminating on altitude 13.097812 < 15.000000 at time 2203.199070 : Descend::execute() - Descend terminating on altitude 12.871384 < 15.000000 at time 2203.399057 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194125.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 12.871384 < 15.000000 at time 2203.599043 : NMEA Update: $GPGGA,194125.19,3642.7266,N,-12211.1535,W,1,03,00.5,012.9,M,-99.9,M,,*4c : Descend::execute() - Descend terminating on altitude 12.871384 < 15.000000 at time 2203.799029 : Descend::execute() - Descend terminating on altitude 12.713368 < 15.000000 at time 2203.999016 : Descend::execute() - Descend terminating on altitude 12.713368 < 15.000000 at time 2204.199002 : Descend::execute() - Descend terminating on altitude 12.713368 < 15.000000 at time 2204.398988 : AshtechGps::processRecord() - $GPGGA,194126.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 12.401417 < 15.000000 at time 2204.598974 : NMEA Update: $GPGGA,194126.19,3642.7265,N,-12211.1541,W,1,03,00.5,012.4,M,-99.9,M,,*42 : Descend::execute() - Descend terminating on altitude 12.401417 < 15.000000 at time 2204.798961 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 12.401417 < 15.000000 at time 2204.998947 : Descend::execute() - Descend terminating on altitude 12.213999 < 15.000000 at time 2205.198933 : Descend::execute() - Descend terminating on altitude 12.213999 < 15.000000 at time 2205.398920 : AshtechGps::processRecord() - $GPGGA,194127.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 12.213999 < 15.000000 at time 2205.598906 : NMEA Update: $GPGGA,194127.19,3642.7264,N,-12211.1548,W,1,03,00.5,012.2,M,-99.9,M,,*4d : Descend::execute() - Descend terminating on altitude 12.080991 < 15.000000 at time 2205.798892 : Descend::execute() - Descend terminating on altitude 12.080991 < 15.000000 at time 2205.998879 : Descend::execute() - Descend terminating on altitude 12.080991 < 15.000000 at time 2206.198865 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 11.797634 < 15.000000 at time 2206.398851 : AshtechGps::processRecord() - $GPGGA,194128.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 11.797634 < 15.000000 at time 2206.598838 : NMEA Update: $GPGGA,194128.19,3642.7263,N,-12211.1554,W,1,03,00.5,011.8,M,-99.9,M,,*41 : Descend::execute() - Descend terminating on altitude 11.797634 < 15.000000 at time 2206.798824 : Descend::execute() - Descend terminating on altitude 11.603568 < 15.000000 at time 2206.998810 : Descend::execute() - Descend terminating on altitude 11.603568 < 15.000000 at time 2207.198797 : TerrainNav update at nav time = 2160.002030 : TerrainNav update at dvl time = 2160.002030 : _navData-> (x,y) = (4063244.54, 572705.58) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on altitude 11.603568 < 15.000000 at time 2207.398783 : Estimated North Bias at time = 2160.00 : 49.00 : Estimated East Bias at time = 2160.00 : 49.00 : AshtechGps::processRecord() - $GPGGA,194129.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 11.478729 < 15.000000 at time 2207.598769 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194129.19,3642.7261,N,-12211.1561,W,1,03,00.5,011.5,M,-99.9,M,,*49 : Estimated Depth Bias at time = 2160.00 : 0.00 : Estimated northing and easting = 4063293.54 : 572754.58 : Descend::execute() - Descend terminating on altitude 11.478729 < 15.000000 at time 2207.798755 : Descend::execute() - Descend terminating on altitude 11.478729 < 15.000000 at time 2207.998742 : Descend::execute() - Descend terminating on altitude 11.315862 < 15.000000 at time 2208.198728 : Descend::execute() - Descend terminating on altitude 11.315862 < 15.000000 at time 2208.398714 : AshtechGps::processRecord() - $GPGGA,194130.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 11.315862 < 15.000000 at time 2208.598701 : NMEA Update: $GPGGA,194130.19,3642.7258,N,-12211.1566,W,1,03,00.5,011.3,M,-99.9,M,,*4a : Descend::execute() - Descend terminating on altitude 11.189572 < 15.000000 at time 2208.798687 : Descend::execute() - Descend terminating on altitude 11.189572 < 15.000000 at time 2208.998673 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 11.189572 < 15.000000 at time 2209.198659 : Descend::execute() - Descend terminating on altitude 10.961831 < 15.000000 at time 2209.398646 : AshtechGps::processRecord() - $GPGGA,194131.00,,,,,0,00,,,M,,M,,*47 : Descend::execute() - Descend terminating on altitude 10.961831 < 15.000000 at time 2209.598632 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194131.19,3642.7255,N,-12211.1572,W,1,03,00.5,011.0,M,-99.9,M,,*40 : Descend::execute() - Descend terminating on altitude 10.961831 < 15.000000 at time 2209.798618 : Descend::execute() - Descend terminating on altitude 10.600466 < 15.000000 at time 2209.998605 : Descend::execute() - Descend terminating on altitude 10.600466 < 15.000000 at time 2210.198591 : Descend::execute() - Descend terminating on altitude 10.600466 < 15.000000 at time 2210.398577 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194132.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 10.599984 < 15.000000 at time 2210.598563 : NMEA Update: $GPGGA,194132.19,3642.7251,N,-12211.1577,W,1,03,00.5,010.6,M,-99.9,M,,*45 : Descend::execute() - Descend terminating on altitude 10.599984 < 15.000000 at time 2210.798550 : Descend::execute() - Descend terminating on altitude 10.599984 < 15.000000 at time 2210.998536 : Descend::execute() - Descend terminating on altitude 10.515292 < 15.000000 at time 2211.198522 : Descend::execute() - Descend terminating on altitude 10.515292 < 15.000000 at time 2211.398509 : AshtechGps::processRecord() - $GPGGA,194133.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 10.515292 < 15.000000 at time 2211.598495 : NMEA Update: $GPGGA,194133.19,3642.7247,N,-12211.1581,W,1,03,00.5,010.5,M,-99.9,M,,*49 : Descend::execute() - Descend terminating on altitude 10.217077 < 15.000000 at time 2211.798481 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 10.217077 < 15.000000 at time 2211.998468 : Descend::execute() - Descend terminating on altitude 10.217077 < 15.000000 at time 2212.198454 : Descend::execute() - Descend terminating on altitude 10.034875 < 15.000000 at time 2212.398440 : AshtechGps::processRecord() - $GPGGA,194134.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 10.034875 < 15.000000 at time 2212.598427 : NMEA Update: $GPGGA,194134.19,3642.7242,N,-12211.1584,W,1,03,00.5,010.0,M,-99.9,M,,*4b : Descend::execute() - Descend terminating on altitude 10.034875 < 15.000000 at time 2212.798413 : Descend::execute() - Descend terminating on altitude 9.983056 < 15.000000 at time 2212.998399 : Descend::execute() - Descend terminating on altitude 9.983056 < 15.000000 at time 2213.198385 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 9.983056 < 15.000000 at time 2213.398372 : AshtechGps::processRecord() - $GPGGA,194135.00,,,,,0,00,,,M,,M,,*43 : Descend::execute() - Descend terminating on altitude 9.745731 < 15.000000 at time 2213.598358 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194135.19,3642.7237,N,-12211.1587,W,1,03,00.5,009.7,M,-99.9,M,,*44 : Descend::execute() - Descend terminating on altitude 9.745731 < 15.000000 at time 2213.798344 : Descend::execute() - Descend terminating on altitude 9.745731 < 15.000000 at time 2213.998331 : Descend::execute() - Descend terminating on altitude 9.595260 < 15.000000 at time 2214.198317 : Descend::execute() - Descend terminating on altitude 9.595260 < 15.000000 at time 2214.398303 : Descend::execute() - Descend terminating on altitude 9.595260 < 15.000000 at time 2214.598289 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194136.19,3642.7232,N,-12211.1589,W,1,03,00.5,009.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194136.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 9.290327 < 15.000000 at time 2214.798276 : Descend::execute() - Descend terminating on altitude 9.290327 < 15.000000 at time 2214.998262 : Descend::execute() - Descend terminating on altitude 9.290327 < 15.000000 at time 2215.198248 : Descend::execute() - Descend terminating on altitude 9.293131 < 15.000000 at time 2215.398235 : AshtechGps::processRecord() - $GPGGA,194137.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 9.293131 < 15.000000 at time 2215.598221 : NMEA Update: $GPGGA,194137.19,3642.7226,N,-12211.1590,W,1,03,00.5,009.3,M,-99.9,M,,*44 : Descend::execute() - Descend terminating on altitude 9.293131 < 15.000000 at time 2215.798207 : Descend::execute() - Descend terminating on altitude 9.088075 < 15.000000 at time 2215.998194 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 9.088075 < 15.000000 at time 2216.198180 : Descend::execute() - Descend terminating on altitude 9.088075 < 15.000000 at time 2216.398166 : AshtechGps::processRecord() - $GPGGA,194138.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 8.960932 < 15.000000 at time 2216.598152 : NMEA Update: $GPGGA,194138.19,3642.7221,N,-12211.1590,W,1,03,00.5,009.0,M,-99.9,M,,*4f : Descend::execute() - Descend terminating on altitude 8.960932 < 15.000000 at time 2216.798139 : Descend::execute() - Descend terminating on altitude 8.960932 < 15.000000 at time 2216.998125 : Descend::execute() - Descend terminating on altitude 8.665820 < 15.000000 at time 2217.198112 : TerrainNav update at nav time = 2170.001345 : TerrainNav update at dvl time = 2170.001345 : _navData-> (x,y) = (4063236.41, 572700.96) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on altitude 8.665820 < 15.000000 at time 2217.398098 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 2170.00 : 49.00 : Estimated East Bias at time = 2170.00 : 49.00 : Estimated Depth Bias at time = 2170.00 : 0.00 : Estimated northing and easting = 4063285.41 : 572749.96 : AshtechGps::processRecord() - $GPGGA,194139.00,,,,,0,00,,,M,,M,,*4F : Descend::execute() - Descend terminating on altitude 8.665820 < 15.000000 at time 2217.598084 : NMEA Update: $GPGGA,194139.19,3642.7216,N,-12211.1589,W,1,03,00.5,008.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 8.612084 < 15.000000 at time 2217.798070 : Descend::execute() - Descend terminating on altitude 8.612084 < 15.000000 at time 2217.998057 : Descend::execute() - Descend terminating on altitude 8.612084 < 15.000000 at time 2218.198043 : Descend::execute() - Descend terminating on altitude 8.447874 < 15.000000 at time 2218.398029 : Descend::execute() - Descend terminating on altitude 8.447874 < 15.000000 at time 2218.598016 : NMEA Update: $GPGGA,194140.19,3642.7211,N,-12211.1588,W,1,03,00.5,008.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194140.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 8.447874 < 15.000000 at time 2218.798002 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 8.214710 < 15.000000 at time 2218.997988 : Descend::execute() - Descend terminating on altitude 8.214710 < 15.000000 at time 2219.197974 : Descend::execute() - Descend terminating on altitude 8.214710 < 15.000000 at time 2219.397961 : AshtechGps::processRecord() - $GPGGA,194141.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 8.115144 < 15.000000 at time 2219.597947 : NMEA Update: $GPGGA,194141.19,3642.7206,N,-12211.1585,W,1,03,00.5,008.1,M,-99.9,M,,*40 : Descend::execute() - Descend terminating on altitude 8.115144 < 15.000000 at time 2219.797933 : Descend::execute() - Descend terminating on altitude 8.115144 < 15.000000 at time 2219.997920 : Descend::execute() - Descend terminating on altitude 7.817100 < 15.000000 at time 2220.197906 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 7.817100 < 15.000000 at time 2220.397892 : AshtechGps::processRecord() - $GPGGA,194142.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 7.817100 < 15.000000 at time 2220.597878 : NMEA Update: $GPGGA,194142.19,3642.7201,N,-12211.1581,W,1,03,00.5,007.8,M,-99.9,M,,*46 : Descend::execute() - Descend terminating on altitude 7.840538 < 15.000000 at time 2220.797865 : Descend::execute() - Descend terminating on altitude 7.840538 < 15.000000 at time 2220.997851 : Descend::execute() - Descend terminating on altitude 7.840538 < 15.000000 at time 2221.197837 : Descend::execute() - Descend terminating on altitude 7.526030 < 15.000000 at time 2221.397824 : AshtechGps::processRecord() - $GPGGA,194143.00,,,,,0,00,,,M,,M,,*42 : Descend::execute() - Descend terminating on altitude 7.526030 < 15.000000 at time 2221.597810 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194143.19,3642.7198,N,-12211.1577,W,1,03,00.5,007.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 7.526030 < 15.000000 at time 2221.797796 : Descend::execute() - Descend terminating on altitude 7.392622 < 15.000000 at time 2221.997783 : Descend::execute() - Descend terminating on altitude 7.392622 < 15.000000 at time 2222.197769 : Descend::execute() - Descend terminating on altitude 7.392622 < 15.000000 at time 2222.397755 : Descend::execute() - Descend terminating on altitude 7.187477 < 15.000000 at time 2222.597742 : NMEA Update: $GPGGA,194144.19,3642.7194,N,-12211.1572,W,1,03,00.5,007.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194144.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 7.187477 < 15.000000 at time 2222.797728 : Descend::execute() - Descend terminating on altitude 7.187477 < 15.000000 at time 2222.997714 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 7.061572 < 15.000000 at time 2223.197701 : Descend::execute() - Descend terminating on altitude 7.061572 < 15.000000 at time 2223.397687 : AshtechGps::processRecord() - $GPGGA,194145.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 7.061572 < 15.000000 at time 2223.597673 : NMEA Update: $GPGGA,194145.19,3642.7191,N,-12211.1567,W,1,03,00.5,007.1,M,-99.9,M,,*4a : Descend::execute() - Descend terminating on altitude 6.832282 < 15.000000 at time 2223.797659 : Descend::execute() - Descend terminating on altitude 6.832282 < 15.000000 at time 2223.997646 : Descend::execute() - Descend terminating on altitude 6.832282 < 15.000000 at time 2224.197632 : Descend::execute() - Descend terminating on altitude 6.563518 < 15.000000 at time 2224.397618 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194146.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 6.563518 < 15.000000 at time 2224.597605 : NMEA Update: $GPGGA,194146.19,3642.7189,N,-12211.1561,W,1,03,00.5,006.6,M,-99.9,M,,*40 : Descend::execute() - Descend terminating on altitude 6.563518 < 15.000000 at time 2224.797591 : Descend::execute() - Descend terminating on altitude 6.471444 < 15.000000 at time 2224.997577 : Descend::execute() - Descend terminating on altitude 6.471444 < 15.000000 at time 2225.197563 : Descend::execute() - Descend terminating on altitude 6.471444 < 15.000000 at time 2225.397550 : Descend::execute() - Descend terminating on altitude 6.232153 < 15.000000 at time 2225.597536 : NMEA Update: $GPGGA,194147.19,3642.7188,N,-12211.1555,W,1,03,00.5,006.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194147.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 6.232153 < 15.000000 at time 2225.797522 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 6.232153 < 15.000000 at time 2225.997509 : Descend::execute() - Descend terminating on altitude 5.927307 < 15.000000 at time 2226.197495 : Descend::execute() - Descend terminating on altitude 5.927307 < 15.000000 at time 2226.397481 : Descend::execute() - Descend terminating on altitude 5.786230 < 15.000000 at time 2226.597467 : NMEA Update: $GPGGA,194148.19,3642.7188,N,-12211.1548,W,1,03,00.5,005.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194148.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 5.786230 < 15.000000 at time 2226.797454 : Descend::execute() - Descend terminating on altitude 5.786230 < 15.000000 at time 2226.997440 : Descend::execute() - Descend terminating on altitude 5.570485 < 15.000000 at time 2227.197426 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2180.000660 : TerrainNav update at dvl time = 2180.000660 : _navData-> (x,y) = (4063230.94, 572707.75) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on altitude 5.570485 < 15.000000 at time 2227.397413 : AshtechGps::processRecord() - $GPGGA,194149.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 5.570485 < 15.000000 at time 2227.597399 : NMEA Update: $GPGGA,194149.19,3642.7188,N,-12211.1542,W,1,03,00.5,005.6,M,-99.9,M,,*4c : Estimated North Bias at time = 2180.00 : 49.00 : Descend::execute() - Descend terminating on altitude 5.347622 < 15.000000 at time 2227.797385 : Estimated East Bias at time = 2180.00 : 49.00 : Estimated Depth Bias at time = 2180.00 : 0.00 : Estimated northing and easting = 4063279.94 : 572756.75 : Descend::execute() - Descend terminating on altitude 5.347622 < 15.000000 at time 2227.997372 : Descend::execute() - Descend terminating on altitude 5.347622 < 15.000000 at time 2228.197358 : Descend::execute() - Descend terminating on altitude 5.132875 < 15.000000 at time 2228.397344 : AshtechGps::processRecord() - $GPGGA,194150.00,,,,,0,00,,,M,,M,,*40 : Descend::execute() - Descend terminating on altitude 5.132875 < 15.000000 at time 2228.597331 : 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,194150.18,3642.7189,N,-12211.1536,W,1,03,00.5,005.1,M,-99.9,M,,*40 : Descend::execute() - Descend terminating on altitude 5.132875 < 15.000000 at time 2228.797317 : Descend::execute() - Descend terminating on altitude 4.876420 < 15.000000 at time 2228.997303 : Descend::execute() - Descend terminating on altitude 4.876420 < 15.000000 at time 2229.197289 : Descend::execute() - Descend terminating on altitude 4.876420 < 15.000000 at time 2229.397276 : Descend::execute() - Descend terminating on altitude 4.634833 < 15.000000 at time 2229.597262 : AshtechGps::processRecord() - $GPGGA,194151.00,,,,,0,00,,,M,,M,,*41 : NMEA Update: $GPGGA,194151.18,3642.7191,N,-12211.1530,W,1,03,00.5,004.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 4.634833 < 15.000000 at time 2229.797248 : Descend::execute() - Descend terminating on altitude 4.634833 < 15.000000 at time 2229.997235 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 4.634833 < 15.000000 at time 2230.197221 : Descend::execute() - Descend terminating on altitude 4.424180 < 15.000000 at time 2230.397207 : Descend::execute() - Descend terminating on altitude 4.424180 < 15.000000 at time 2230.597193 : NMEA Update: $GPGGA,194152.18,3642.7193,N,-12211.1524,W,1,03,00.5,004.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194152.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 4.424180 < 15.000000 at time 2230.797180 : Descend::execute() - Descend terminating on altitude 4.241446 < 15.000000 at time 2230.997166 : Descend::execute() - Descend terminating on altitude 4.241446 < 15.000000 at time 2231.197152 : Descend::execute() - Descend terminating on altitude 4.241446 < 15.000000 at time 2231.397139 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194153.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.959734 < 15.000000 at time 2231.597125 : NMEA Update: $GPGGA,194153.18,3642.7196,N,-12211.1518,W,1,03,00.5,004.0,M,-99.9,M,,*41 : Descend::execute() - Descend terminating on altitude 3.959734 < 15.000000 at time 2231.797111 : Descend::execute() - Descend terminating on altitude 3.959734 < 15.000000 at time 2231.997098 : Descend::execute() - Descend terminating on altitude 3.750350 < 15.000000 at time 2232.197084 : Descend::execute() - Descend terminating on altitude 3.750350 < 15.000000 at time 2232.397070 : AshtechGps::processRecord() - $GPGGA,194154.00,,,,,0,00,,,M,,M,,*44 : Descend::execute() - Descend terminating on altitude 3.750350 < 15.000000 at time 2232.597057 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194154.18,3642.7199,N,-12211.1514,W,1,03,00.5,003.8,M,-99.9,M,,*4a : Descend::execute() - Descend terminating on altitude 3.539489 < 15.000000 at time 2232.797043 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.539489 < 15.000000 at time 2232.997029 : Descend::execute() - Descend terminating on altitude 3.539489 < 15.000000 at time 2233.197016 : Descend::execute() - Descend terminating on altitude 3.298175 < 15.000000 at time 2233.397002 : Descend::execute() - Descend terminating on altitude 3.298175 < 15.000000 at time 2233.596988 : NMEA Update: $GPGGA,194155.18,3642.7203,N,-12211.1510,W,1,03,00.5,003.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194155.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.298175 < 15.000000 at time 2233.796974 : Descend::execute() - Descend terminating on altitude 3.123449 < 15.000000 at time 2233.996961 : Descend::execute() - Descend terminating on altitude 3.123449 < 15.000000 at time 2234.196947 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.123449 < 15.000000 at time 2234.396933 : Descend::execute() - Descend terminating on altitude 2.843477 < 15.000000 at time 2234.596920 : NMEA Update: $GPGGA,194156.18,3642.7208,N,-12211.1506,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194156.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.843477 < 15.000000 at time 2234.796906 : Descend::execute() - Descend terminating on altitude 2.843477 < 15.000000 at time 2234.996892 : Descend::execute() - Descend terminating on altitude 2.621101 < 15.000000 at time 2235.196878 : Descend::execute() - Descend terminating on altitude 2.621101 < 15.000000 at time 2235.396865 : AshtechGps::processRecord() - $GPGGA,194157.00,,,,,0,00,,,M,,M,,*47 : Descend::execute() - Descend terminating on altitude 2.621101 < 15.000000 at time 2235.596851 : 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,194157.18,3642.7212,N,-12211.1504,W,1,03,00.5,002.6,M,-99.9,M,,*47 : Descend::execute() - Descend terminating on altitude 2.453352 < 15.000000 at time 2235.796837 : Descend::execute() - Descend terminating on altitude 2.453352 < 15.000000 at time 2235.996824 : Descend::execute() - Descend terminating on altitude 2.453352 < 15.000000 at time 2236.196810 : Descend::execute() - Descend terminating on altitude 2.144938 < 15.000000 at time 2236.396796 : AshtechGps::processRecord() - $GPGGA,194158.00,,,,,0,00,,,M,,M,,*48 : Descend::execute() - Descend terminating on altitude 2.144938 < 15.000000 at time 2236.596782 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194158.18,3642.7218,N,-12211.1502,W,1,03,00.5,002.1,M,-99.9,M,,*43 : Descend::execute() - Descend terminating on altitude 2.144938 < 15.000000 at time 2236.796769 : Descend::execute() - Descend terminating on altitude 1.789032 < 15.000000 at time 2236.996755 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 1.789032 < 15.000000 at time 2237.196741 : TerrainNav update at nav time = 2189.999975 : TerrainNav update at dvl time = 2189.999975 : _navData-> (x,y) = (4063237.40, 572714.13) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on altitude 1.789032 < 15.000000 at time 2237.396728 : Descend::execute() - Descend terminating on altitude 1.588042 < 15.000000 at time 2237.596714 : NMEA Update: $GPGGA,194159.18,3642.7225,N,-12211.1501,W,1,03,00.5,001.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194159.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2190.00 : 49.00 : Estimated East Bias at time = 2190.00 : 49.00 : Estimated Depth Bias at time = 2190.00 : 0.00 : Estimated northing and easting = 4063286.40 : 572763.13 : Descend::execute() - Descend terminating on altitude 1.588042 < 15.000000 at time 2237.796700 : Descend::execute() - Descend terminating on altitude 1.588042 < 15.000000 at time 2237.996687 : Descend::execute() - Descend terminating on altitude 1.397347 < 15.000000 at time 2238.196673 : DepthEnvelope -- Measured altitude = 1.397347. Allowable altitude = 1.500000. t= 2238.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.397347 < 15.000000 at time 2238.396659 : DepthEnvelope -- Measured altitude = 1.397347. Allowable altitude = 1.500000. t= 2238.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.397347 < 15.000000 at time 2238.596646 : DepthEnvelope -- Measured altitude = 1.397347. Allowable altitude = 1.500000. t= 2238.60. Stopping! : NMEA Update: $GPGGA,194200.18,3642.7230,N,-12211.1500,W,1,03,00.5,001.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194200.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194201.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194201.18,3642.7235,N,-12211.1501,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194202.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194202.18,3642.7239,N,-12211.1503,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194203.18,3642.7241,N,-12211.1503,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,194203.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194204.18,3642.7243,N,-12211.1504,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,194204.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194205.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194205.18,3642.7245,N,-12211.1505,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194206.00,,,,,0,00,,,M,,M,,*40 : NMEA Update: $GPGGA,194206.18,3642.7246,N,-12211.1506,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194207.18,3642.7246,N,-12211.1507,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,194207.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194208.18,3642.7247,N,-12211.1508,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,194208.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2199.999290 : TerrainNav update at dvl time = 2199.999290 : _navData-> (x,y) = (4063241.93, 572713.08) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2200.00 : 49.00 : Estimated East Bias at time = 2200.00 : 49.00 : Estimated Depth Bias at time = 2200.00 : 0.00 : Estimated northing and easting = 4063290.93 : 572762.08 : AshtechGps::processRecord() - $GPGGA,194209.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194209.18,3642.7248,N,-12211.1508,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194210.18,3642.7249,N,-12211.1509,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,194210.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194211.18,3642.7250,N,-12211.1510,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,194211.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194212.18,3642.7250,N,-12211.1511,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,194212.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194213.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194213.18,3642.7251,N,-12211.1512,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194214.18,3642.7251,N,-12211.1513,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,194214.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194215.18,3642.7252,N,-12211.1514,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,194215.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194216.18,3642.7253,N,-12211.1515,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,194216.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194217.00,,,,,0,00,,,M,,M,,*40 : NMEA Update: $GPGGA,194217.18,3642.7253,N,-12211.1516,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194218.18,3642.7253,N,-12211.1516,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,194218.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2209.998605 : TerrainNav update at dvl time = 2209.998605 : _navData-> (x,y) = (4063243.04, 572711.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2210.00 : 49.00 : Estimated East Bias at time = 2210.00 : 49.00 : Estimated Depth Bias at time = 2210.00 : 0.00 : Estimated northing and easting = 4063292.04 : 572760.88 : NMEA Update: $GPGGA,194219.18,3642.7253,N,-12211.1516,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,194219.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 0.989329 < 15.000000 at time 2257.795330 : DepthEnvelope -- Measured altitude = 0.989329. Allowable altitude = 1.500000. t= 2257.80. Stopping! : Descend::execute() - Descend terminating on altitude 0.989329 < 15.000000 at time 2257.995317 : DepthEnvelope -- Measured altitude = 0.989329. Allowable altitude = 1.500000. t= 2258.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 0.989329 < 15.000000 at time 2258.195303 : DepthEnvelope -- Measured altitude = 0.989329. Allowable altitude = 1.500000. t= 2258.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.093911 < 15.000000 at time 2258.395289 : DepthEnvelope -- Measured altitude = 1.093911. Allowable altitude = 1.500000. t= 2258.40. Stopping! : Descend::execute() - Descend terminating on altitude 1.093911 < 15.000000 at time 2258.595275 : DepthEnvelope -- Measured altitude = 1.093911. Allowable altitude = 1.500000. t= 2258.60. Stopping! : NMEA Update: $GPGGA,194220.18,3642.7254,N,-12211.1518,W,1,03,00.5,001.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194220.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.093911 < 15.000000 at time 2258.795262 : DepthEnvelope -- Measured altitude = 1.093911. Allowable altitude = 1.500000. t= 2258.80. Stopping! : Descend::execute() - Descend terminating on altitude 1.107380 < 15.000000 at time 2258.995248 : DepthEnvelope -- Measured altitude = 1.107380. Allowable altitude = 1.500000. t= 2259.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.107380 < 15.000000 at time 2259.195234 : DepthEnvelope -- Measured altitude = 1.107380. Allowable altitude = 1.500000. t= 2259.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.107380 < 15.000000 at time 2259.395221 : DepthEnvelope -- Measured altitude = 1.107380. Allowable altitude = 1.500000. t= 2259.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.158912 < 15.000000 at time 2259.595207 : DepthEnvelope -- Measured altitude = 1.158912. Allowable altitude = 1.500000. t= 2259.60. Stopping! : NMEA Update: $GPGGA,194221.18,3642.7255,N,-12211.1519,W,1,03,00.5,001.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194221.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.158912 < 15.000000 at time 2259.795193 : DepthEnvelope -- Measured altitude = 1.158912. Allowable altitude = 1.500000. t= 2259.80. Stopping! : Descend::execute() - Descend terminating on altitude 1.158912 < 15.000000 at time 2259.995180 : DepthEnvelope -- Measured altitude = 1.158912. Allowable altitude = 1.500000. t= 2260.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.190003 < 15.000000 at time 2260.195166 : DepthEnvelope -- Measured altitude = 1.190003. Allowable altitude = 1.500000. t= 2260.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.190003 < 15.000000 at time 2260.395152 : DepthEnvelope -- Measured altitude = 1.190003. Allowable altitude = 1.500000. t= 2260.40. Stopping! : Descend::execute() - Descend terminating on altitude 1.190003 < 15.000000 at time 2260.595139 : DepthEnvelope -- Measured altitude = 1.190003. Allowable altitude = 1.500000. t= 2260.60. Stopping! : NMEA Update: $GPGGA,194222.18,3642.7257,N,-12211.1521,W,1,03,00.5,001.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194222.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.190003 < 15.000000 at time 2260.795125 : DepthEnvelope -- Measured altitude = 1.190003. Allowable altitude = 1.500000. t= 2260.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.233511 < 15.000000 at time 2260.995111 : DepthEnvelope -- Measured altitude = 1.233511. Allowable altitude = 1.500000. t= 2261.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.233511 < 15.000000 at time 2261.195097 : DepthEnvelope -- Measured altitude = 1.233511. Allowable altitude = 1.500000. t= 2261.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.233511 < 15.000000 at time 2261.395084 : DepthEnvelope -- Measured altitude = 1.233511. Allowable altitude = 1.500000. t= 2261.40. Stopping! : Descend::execute() - Descend terminating on altitude 1.285970 < 15.000000 at time 2261.595070 : DepthEnvelope -- Measured altitude = 1.285970. Allowable altitude = 1.500000. t= 2261.60. Stopping! : NMEA Update: $GPGGA,194223.18,3642.7258,N,-12211.1522,W,1,03,00.5,001.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194223.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.285970 < 15.000000 at time 2261.795056 : DepthEnvelope -- Measured altitude = 1.285970. Allowable altitude = 1.500000. t= 2261.80. Stopping! : Descend::execute() - Descend terminating on altitude 1.319131 < 15.000000 at time 2261.995043 : DepthEnvelope -- Measured altitude = 1.319131. Allowable altitude = 1.500000. t= 2262.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.319131 < 15.000000 at time 2262.195029 : DepthEnvelope -- Measured altitude = 1.319131. Allowable altitude = 1.500000. t= 2262.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.319131 < 15.000000 at time 2262.395015 : DepthEnvelope -- Measured altitude = 1.319131. Allowable altitude = 1.500000. t= 2262.40. Stopping! : Descend::execute() - Descend terminating on altitude 1.355313 < 15.000000 at time 2262.595001 : DepthEnvelope -- Measured altitude = 1.355313. Allowable altitude = 1.500000. t= 2262.60. Stopping! : NMEA Update: $GPGGA,194224.18,3642.7259,N,-12211.1524,W,1,03,00.5,001.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194224.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.355313 < 15.000000 at time 2262.794988 : DepthEnvelope -- Measured altitude = 1.355313. Allowable altitude = 1.500000. t= 2262.79. Stopping! : Descend::execute() - Descend terminating on altitude 1.355313 < 15.000000 at time 2262.994974 : DepthEnvelope -- Measured altitude = 1.355313. Allowable altitude = 1.500000. t= 2262.99. Stopping! : Descend::execute() - Descend terminating on altitude 1.438176 < 15.000000 at time 2263.194960 : DepthEnvelope -- Measured altitude = 1.438176. Allowable altitude = 1.500000. t= 2263.19. Stopping! : Descend::execute() - Descend terminating on altitude 1.438176 < 15.000000 at time 2263.394947 : DepthEnvelope -- Measured altitude = 1.438176. Allowable altitude = 1.500000. t= 2263.39. Stopping! : Descend::execute() - Descend terminating on altitude 1.438176 < 15.000000 at time 2263.594933 : DepthEnvelope -- Measured altitude = 1.438176. Allowable altitude = 1.500000. t= 2263.59. Stopping! : NMEA Update: $GPGGA,194225.18,3642.7260,N,-12211.1525,W,1,03,00.5,001.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194225.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.438176 < 15.000000 at time 2263.794919 : DepthEnvelope -- Measured altitude = 1.438176. Allowable altitude = 1.500000. t= 2263.79. Stopping! : Descend::execute() - Descend terminating on altitude 1.476457 < 15.000000 at time 2263.994906 : DepthEnvelope -- Measured altitude = 1.476457. Allowable altitude = 1.500000. t= 2263.99. Stopping! : Descend::execute() - Descend terminating on altitude 1.476457 < 15.000000 at time 2264.194892 : DepthEnvelope -- Measured altitude = 1.476457. Allowable altitude = 1.500000. t= 2264.19. Stopping! : Descend::execute() - Descend terminating on altitude 1.601241 < 15.000000 at time 2264.394878 : Descend::execute() - Descend terminating on altitude 1.601241 < 15.000000 at time 2264.594865 : NMEA Update: $GPGGA,194226.18,3642.7261,N,-12211.1527,W,1,03,00.5,001.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194226.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.601241 < 15.000000 at time 2264.794851 : Descend::execute() - Descend terminating on altitude 1.633921 < 15.000000 at time 2264.994837 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.633921 < 15.000000 at time 2265.194824 : Descend::execute() - Descend terminating on altitude 1.633921 < 15.000000 at time 2265.394810 : Descend::execute() - Descend terminating on altitude 1.665218 < 15.000000 at time 2265.594796 : NMEA Update: $GPGGA,194227.18,3642.7262,N,-12211.1528,W,1,03,00.5,001.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194227.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.665218 < 15.000000 at time 2265.794782 : Descend::execute() - Descend terminating on altitude 1.665218 < 15.000000 at time 2265.994769 : Descend::execute() - Descend terminating on altitude 1.665218 < 15.000000 at time 2266.194755 : Descend::execute() - Descend terminating on altitude 1.709890 < 15.000000 at time 2266.394741 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.709890 < 15.000000 at time 2266.594728 : NMEA Update: $GPGGA,194228.18,3642.7263,N,-12211.1529,W,1,03,00.5,001.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194228.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.816911 < 15.000000 at time 2266.794714 : Descend::execute() - Descend terminating on altitude 1.816911 < 15.000000 at time 2266.994700 : Descend::execute() - Descend terminating on altitude 1.816911 < 15.000000 at time 2267.194686 : TerrainNav update at nav time = 2219.997920 : TerrainNav update at dvl time = 2219.997920 : _navData-> (x,y) = (4063244.95, 572709.84) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2220.00 : 49.00 : Estimated East Bias at time = 2220.00 : 49.00 : Estimated Depth Bias at time = 2220.00 : 0.00 : Estimated northing and easting = 4063293.95 : 572758.84 : Descend::execute() - Descend terminating on altitude 1.816911 < 15.000000 at time 2267.394673 : Descend::execute() - Descend terminating on altitude 1.843919 < 15.000000 at time 2267.594659 : AshtechGps::processRecord() - $GPGGA,194229.00,,,,,0,00,,,M,,M,,*4D : NMEA Update: $GPGGA,194229.18,3642.7264,N,-12211.1530,W,1,03,00.5,001.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.843919 < 15.000000 at time 2267.794645 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.921653 < 15.000000 at time 2267.994632 : Descend::execute() - Descend terminating on altitude 1.921653 < 15.000000 at time 2268.194618 : Descend::execute() - Descend terminating on altitude 1.921653 < 15.000000 at time 2268.394604 : Descend::execute() - Descend terminating on altitude 1.921653 < 15.000000 at time 2268.594590 : NMEA Update: $GPGGA,194230.18,3642.7265,N,-12211.1531,W,1,03,00.5,001.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194230.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.964551 < 15.000000 at time 2268.794577 : Descend::execute() - Descend terminating on altitude 1.964551 < 15.000000 at time 2268.994563 : Descend::execute() - Descend terminating on altitude 1.989648 < 15.000000 at time 2269.194549 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.989648 < 15.000000 at time 2269.394536 : Descend::execute() - Descend terminating on altitude 1.989648 < 15.000000 at time 2269.594522 : NMEA Update: $GPGGA,194231.18,3642.7266,N,-12211.1532,W,1,03,00.5,002.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194231.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.069258 < 15.000000 at time 2269.794508 : Descend::execute() - Descend terminating on altitude 2.069258 < 15.000000 at time 2269.994495 : Descend::execute() - Descend terminating on altitude 2.069258 < 15.000000 at time 2270.194481 : Descend::execute() - Descend terminating on altitude 2.069258 < 15.000000 at time 2270.394467 : Descend::execute() - Descend terminating on altitude 2.110568 < 15.000000 at time 2270.594454 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194232.18,3642.7267,N,-12211.1533,W,1,03,00.5,002.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194232.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.110568 < 15.000000 at time 2270.794440 : Descend::execute() - Descend terminating on altitude 2.110568 < 15.000000 at time 2270.994426 : Descend::execute() - Descend terminating on altitude 2.163327 < 15.000000 at time 2271.194412 : Descend::execute() - Descend terminating on altitude 2.163327 < 15.000000 at time 2271.394399 : Descend::execute() - Descend terminating on altitude 2.163327 < 15.000000 at time 2271.594385 : NMEA Update: $GPGGA,194233.18,3642.7268,N,-12211.1534,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194233.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.219525 < 15.000000 at time 2271.794371 : Descend::execute() - Descend terminating on altitude 2.219525 < 15.000000 at time 2271.994358 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.219525 < 15.000000 at time 2272.194344 : Descend::execute() - Descend terminating on altitude 2.274206 < 15.000000 at time 2272.394330 : Descend::execute() - Descend terminating on altitude 2.274206 < 15.000000 at time 2272.594316 : NMEA Update: $GPGGA,194234.18,3642.7269,N,-12211.1535,W,1,03,00.5,002.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194234.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.274206 < 15.000000 at time 2272.794303 : Descend::execute() - Descend terminating on altitude 2.299861 < 15.000000 at time 2272.994289 : Descend::execute() - Descend terminating on altitude 2.299861 < 15.000000 at time 2273.194275 : Descend::execute() - Descend terminating on altitude 2.299861 < 15.000000 at time 2273.394262 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.353637 < 15.000000 at time 2273.594248 : NMEA Update: $GPGGA,194235.18,3642.7270,N,-12211.1536,W,1,03,00.5,002.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194235.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.353637 < 15.000000 at time 2273.794234 : Descend::execute() - Descend terminating on altitude 2.353637 < 15.000000 at time 2273.994221 : Descend::execute() - Descend terminating on altitude 2.404977 < 15.000000 at time 2274.194207 : Descend::execute() - Descend terminating on altitude 2.404977 < 15.000000 at time 2274.394193 : Descend::execute() - Descend terminating on altitude 2.404977 < 15.000000 at time 2274.594180 : NMEA Update: $GPGGA,194236.18,3642.7271,N,-12211.1537,W,1,03,00.5,002.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194236.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.454311 < 15.000000 at time 2274.794166 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.454311 < 15.000000 at time 2274.994152 : Descend::execute() - Descend terminating on altitude 2.454311 < 15.000000 at time 2275.194139 : Descend::execute() - Descend terminating on altitude 2.493844 < 15.000000 at time 2275.394125 : Descend::execute() - Descend terminating on altitude 2.493844 < 15.000000 at time 2275.594111 : NMEA Update: $GPGGA,194237.18,3642.7272,N,-12211.1537,W,1,03,00.5,002.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194237.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.493844 < 15.000000 at time 2275.794097 : Descend::execute() - Descend terminating on altitude 2.569006 < 15.000000 at time 2275.994084 : Descend::execute() - Descend terminating on altitude 2.569006 < 15.000000 at time 2276.194070 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.569006 < 15.000000 at time 2276.394056 : Descend::execute() - Descend terminating on altitude 2.616029 < 15.000000 at time 2276.594043 : NMEA Update: $GPGGA,194238.18,3642.7273,N,-12211.1538,W,1,03,00.5,002.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194238.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.616029 < 15.000000 at time 2276.794029 : Descend::execute() - Descend terminating on altitude 2.616029 < 15.000000 at time 2276.994015 : Descend::execute() - Descend terminating on altitude 2.689605 < 15.000000 at time 2277.194001 : TerrainNav update at nav time = 2229.997235 : TerrainNav update at dvl time = 2229.997235 : _navData-> (x,y) = (4063246.71, 572708.49) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on altitude 2.689605 < 15.000000 at time 2277.393988 : Estimated North Bias at time = 2230.00 : 49.00 : Estimated East Bias at time = 2230.00 : 49.00 : Estimated Depth Bias at time = 2230.00 : 0.00 : Estimated northing and easting = 4063295.71 : 572757.49 : Descend::execute() - Descend terminating on altitude 2.689605 < 15.000000 at time 2277.593974 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194239.18,3642.7274,N,-12211.1539,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194239.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.721927 < 15.000000 at time 2277.793960 : Descend::execute() - Descend terminating on altitude 2.721927 < 15.000000 at time 2277.993947 : Descend::execute() - Descend terminating on altitude 2.721927 < 15.000000 at time 2278.193933 : Descend::execute() - Descend terminating on altitude 2.796030 < 15.000000 at time 2278.393919 : Descend::execute() - Descend terminating on altitude 2.796030 < 15.000000 at time 2278.593905 : NMEA Update: $GPGGA,194240.18,3642.7274,N,-12211.1540,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194240.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.796030 < 15.000000 at time 2278.793892 : Descend::execute() - Descend terminating on altitude 2.974785 < 15.000000 at time 2278.993878 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.974785 < 15.000000 at time 2279.193864 : Descend::execute() - Descend terminating on altitude 2.974785 < 15.000000 at time 2279.393851 : Descend::execute() - Descend terminating on altitude 3.015960 < 15.000000 at time 2279.593837 : DepthEnvelope -- Depth 874.635516 shallower than restart depth 875.292081 and altitude 3.015960 greater than min altitude 1.500000 at t= 2279.59. Starting prop! : NMEA Update: $GPGGA,194241.18,3642.7275,N,-12211.1540,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194241.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.015960 < 15.000000 at time 2279.793823 : Descend::execute() - Descend terminating on altitude 3.015960 < 15.000000 at time 2279.993810 : Descend::execute() - Descend terminating on altitude 3.045921 < 15.000000 at time 2280.193796 : Descend::execute() - Descend terminating on altitude 3.045921 < 15.000000 at time 2280.393782 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.045921 < 15.000000 at time 2280.593769 : NMEA Update: $GPGGA,194242.18,3642.7276,N,-12211.1541,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194242.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.090163 < 15.000000 at time 2280.793755 : Descend::execute() - Descend terminating on altitude 3.090163 < 15.000000 at time 2280.993741 : Descend::execute() - Descend terminating on altitude 3.090163 < 15.000000 at time 2281.193727 : Descend::execute() - Descend terminating on altitude 3.159956 < 15.000000 at time 2281.393714 : Descend::execute() - Descend terminating on altitude 3.159956 < 15.000000 at time 2281.593700 : NMEA Update: $GPGGA,194243.18,3642.7276,N,-12211.1541,W,1,03,00.5,003.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194243.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.159956 < 15.000000 at time 2281.793686 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.213155 < 15.000000 at time 2281.993673 : Descend::execute() - Descend terminating on altitude 3.213155 < 15.000000 at time 2282.193659 : Descend::execute() - Descend terminating on altitude 3.213155 < 15.000000 at time 2282.393645 : Descend::execute() - Descend terminating on altitude 3.250195 < 15.000000 at time 2282.593632 : NMEA Update: $GPGGA,194244.18,3642.7277,N,-12211.1542,W,1,03,00.5,003.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194244.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.250195 < 15.000000 at time 2282.793618 : Descend::execute() - Descend terminating on altitude 3.250195 < 15.000000 at time 2282.993604 : Descend::execute() - Descend terminating on altitude 3.320992 < 15.000000 at time 2283.193590 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.320992 < 15.000000 at time 2283.393577 : Descend::execute() - Descend terminating on altitude 3.320992 < 15.000000 at time 2283.593563 : NMEA Update: $GPGGA,194245.18,3642.7278,N,-12211.1543,W,1,03,00.5,003.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194245.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.338293 < 15.000000 at time 2283.793549 : Descend::execute() - Descend terminating on altitude 3.338293 < 15.000000 at time 2283.993536 : Descend::execute() - Descend terminating on altitude 3.338293 < 15.000000 at time 2284.193522 : Descend::execute() - Descend terminating on altitude 3.432214 < 15.000000 at time 2284.393508 : Descend::execute() - Descend terminating on altitude 3.432214 < 15.000000 at time 2284.593494 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194246.18,3642.7280,N,-12211.1544,W,1,03,00.5,003.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194246.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.432214 < 15.000000 at time 2284.793481 : Descend::execute() - Descend terminating on altitude 3.410930 < 15.000000 at time 2284.993467 : Descend::execute() - Descend terminating on altitude 3.410930 < 15.000000 at time 2285.193453 : Descend::execute() - Descend terminating on altitude 3.410930 < 15.000000 at time 2285.393440 : Descend::execute() - Descend terminating on altitude 3.482712 < 15.000000 at time 2285.593426 : NMEA Update: $GPGGA,194247.18,3642.7281,N,-12211.1546,W,1,03,00.5,003.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194247.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.482712 < 15.000000 at time 2285.793412 : Descend::execute() - Descend terminating on altitude 3.482712 < 15.000000 at time 2285.993399 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.497040 < 15.000000 at time 2286.193385 : Descend::execute() - Descend terminating on altitude 3.497040 < 15.000000 at time 2286.393371 : Descend::execute() - Descend terminating on altitude 3.497040 < 15.000000 at time 2286.593358 : NMEA Update: $GPGGA,194248.18,3642.7283,N,-12211.1548,W,1,03,00.5,003.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194248.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.546465 < 15.000000 at time 2286.793344 : Descend::execute() - Descend terminating on altitude 3.546465 < 15.000000 at time 2286.993330 : Descend::execute() - Descend terminating on altitude 3.546465 < 15.000000 at time 2287.193316 : TerrainNav update at nav time = 2239.996550 : TerrainNav update at dvl time = 2239.996550 : _navData-> (x,y) = (4063248.80, 572706.83) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2240.00 : 49.00 : Estimated East Bias at time = 2240.00 : 49.00 : Estimated Depth Bias at time = 2240.00 : 0.00 : Estimated northing and easting = 4063297.80 : 572755.83 : Descend::execute() - Descend terminating on altitude 3.547257 < 15.000000 at time 2287.393303 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.547257 < 15.000000 at time 2287.593289 : NMEA Update: $GPGGA,194249.18,3642.7286,N,-12211.1551,W,1,03,00.5,003.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194249.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.547257 < 15.000000 at time 2287.793275 : Descend::execute() - Descend terminating on altitude 3.537267 < 15.000000 at time 2287.993262 : Descend::execute() - Descend terminating on altitude 3.537267 < 15.000000 at time 2288.193248 : Descend::execute() - Descend terminating on altitude 3.537267 < 15.000000 at time 2288.393234 : Descend::execute() - Descend terminating on altitude 3.538937 < 15.000000 at time 2288.593220 : NMEA Update: $GPGGA,194250.18,3642.7288,N,-12211.1554,W,1,03,00.5,003.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194250.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.538937 < 15.000000 at time 2288.793207 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.538937 < 15.000000 at time 2288.993193 : Descend::execute() - Descend terminating on altitude 3.549201 < 15.000000 at time 2289.193179 : Descend::execute() - Descend terminating on altitude 3.549201 < 15.000000 at time 2289.393166 : Descend::execute() - Descend terminating on altitude 3.549201 < 15.000000 at time 2289.593152 : NMEA Update: $GPGGA,194251.18,3642.7290,N,-12211.1558,W,1,03,00.5,003.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194251.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.513139 < 15.000000 at time 2289.793138 : Descend::execute() - Descend terminating on altitude 3.513139 < 15.000000 at time 2289.993125 : Descend::execute() - Descend terminating on altitude 3.513139 < 15.000000 at time 2290.193111 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.466611 < 15.000000 at time 2290.393097 : Descend::execute() - Descend terminating on altitude 3.466611 < 15.000000 at time 2290.593084 : NMEA Update: $GPGGA,194252.18,3642.7292,N,-12211.1562,W,1,03,00.5,003.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194252.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.466611 < 15.000000 at time 2290.793070 : Descend::execute() - Descend terminating on altitude 3.398781 < 15.000000 at time 2290.993056 : Descend::execute() - Descend terminating on altitude 3.398781 < 15.000000 at time 2291.193043 : Descend::execute() - Descend terminating on altitude 3.398781 < 15.000000 at time 2291.393029 : Descend::execute() - Descend terminating on altitude 3.308738 < 15.000000 at time 2291.593015 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194253.18,3642.7294,N,-12211.1566,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194253.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.308738 < 15.000000 at time 2291.793001 : Descend::execute() - Descend terminating on altitude 3.308738 < 15.000000 at time 2291.992988 : Descend::execute() - Descend terminating on altitude 3.246245 < 15.000000 at time 2292.192974 : Descend::execute() - Descend terminating on altitude 3.246245 < 15.000000 at time 2292.392960 : Descend::execute() - Descend terminating on altitude 3.246245 < 15.000000 at time 2292.592947 : NMEA Update: $GPGGA,194254.18,3642.7296,N,-12211.1571,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194254.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.157865 < 15.000000 at time 2292.792933 : Descend::execute() - Descend terminating on altitude 3.157865 < 15.000000 at time 2292.992919 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Descend::execute() - Descend terminating on altitude 3.157865 < 15.000000 at time 2293.192905 : Descend::execute() - Descend terminating on altitude 2.947777 < 15.000000 at time 2293.392892 : Descend::execute() - Descend terminating on altitude 2.947777 < 15.000000 at time 2293.592878 : NMEA Update: $GPGGA,194255.18,3642.7297,N,-12211.1577,W,1,03,00.5,002.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194255.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.947777 < 15.000000 at time 2293.792864 : Descend::execute() - Descend terminating on altitude 2.816241 < 15.000000 at time 2293.992851 : Descend::execute() - Descend terminating on altitude 2.816241 < 15.000000 at time 2294.192837 : Descend::execute() - Descend terminating on altitude 2.816241 < 15.000000 at time 2294.392823 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 2.688398 < 15.000000 at time 2294.592809 : NMEA Update: $GPGGA,194256.18,3642.7298,N,-12211.1582,W,1,03,00.5,002.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194256.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.688398 < 15.000000 at time 2294.792796 : Descend::execute() - Descend terminating on altitude 2.688398 < 15.000000 at time 2294.992782 : Descend::execute() - Descend terminating on altitude 2.579745 < 15.000000 at time 2295.192768 : Descend::execute() - Descend terminating on altitude 2.579745 < 15.000000 at time 2295.392755 : Descend::execute() - Descend terminating on altitude 2.579745 < 15.000000 at time 2295.592741 : NMEA Update: $GPGGA,194257.18,3642.7299,N,-12211.1589,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194257.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.459344 < 15.000000 at time 2295.792727 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 2.459344 < 15.000000 at time 2295.992714 : Descend::execute() - Descend terminating on altitude 2.459344 < 15.000000 at time 2296.192700 : Descend::execute() - Descend terminating on altitude 2.249830 < 15.000000 at time 2296.392686 : Descend::execute() - Descend terminating on altitude 2.249830 < 15.000000 at time 2296.592673 : NMEA Update: $GPGGA,194258.18,3642.7298,N,-12211.1596,W,1,03,00.5,002.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194258.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.249830 < 15.000000 at time 2296.792659 : Descend::execute() - Descend terminating on altitude 2.038393 < 15.000000 at time 2296.992645 : Descend::execute() - Descend terminating on altitude 2.038393 < 15.000000 at time 2297.192631 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2249.995865 : TerrainNav update at dvl time = 2249.995865 : _navData-> (x,y) = (4063251.21, 572699.27) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on altitude 2.038393 < 15.000000 at time 2297.392618 : Descend::execute() - Descend terminating on altitude 1.898574 < 15.000000 at time 2297.592604 : NMEA Update: $GPGGA,194259.18,3642.7298,N,-12211.1603,W,1,03,00.5,001.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194259.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.898574 < 15.000000 at time 2297.792590 : Estimated North Bias at time = 2250.00 : 48.00 : Estimated East Bias at time = 2250.00 : 48.00 : Estimated Depth Bias at time = 2250.00 : 0.00 : Estimated northing and easting = 4063299.21 : 572747.27 : Descend::execute() - Descend terminating on altitude 1.898574 < 15.000000 at time 2297.992577 : Descend::execute() - Descend terminating on altitude 1.777256 < 15.000000 at time 2298.192563 : Descend::execute() - Descend terminating on altitude 1.777256 < 15.000000 at time 2298.392549 : Descend::execute() - Descend terminating on altitude 1.777256 < 15.000000 at time 2298.592535 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194300.18,3642.7296,N,-12211.1608,W,1,03,00.5,001.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194300.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.588725 < 15.000000 at time 2298.792522 : Descend::execute() - Descend terminating on altitude 1.588725 < 15.000000 at time 2298.992508 : Descend::execute() - Descend terminating on altitude 1.588725 < 15.000000 at time 2299.192494 : Descend::execute() - Descend terminating on altitude 1.445083 < 15.000000 at time 2299.392481 : DepthEnvelope -- Measured altitude = 1.445083. Allowable altitude = 1.500000. t= 2299.39. Stopping! : Descend::execute() - Descend terminating on altitude 1.445083 < 15.000000 at time 2299.592467 : DepthEnvelope -- Measured altitude = 1.445083. Allowable altitude = 1.500000. t= 2299.59. Stopping! : NMEA Update: $GPGGA,194301.18,3642.7294,N,-12211.1615,W,1,03,00.5,001.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194301.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.445083 < 15.000000 at time 2299.792453 : DepthEnvelope -- Measured altitude = 1.445083. Allowable altitude = 1.500000. t= 2299.79. Stopping! : Descend::execute() - Descend terminating on altitude 1.269009 < 15.000000 at time 2299.992440 : DepthEnvelope -- Measured altitude = 1.269009. Allowable altitude = 1.500000. t= 2299.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.269009 < 15.000000 at time 2300.192426 : DepthEnvelope -- Measured altitude = 1.269009. Allowable altitude = 1.500000. t= 2300.19. Stopping! : Descend::execute() - Descend terminating on altitude 1.269009 < 15.000000 at time 2300.392412 : DepthEnvelope -- Measured altitude = 1.269009. Allowable altitude = 1.500000. t= 2300.39. Stopping! : Descend::execute() - Descend terminating on altitude 1.041937 < 15.000000 at time 2300.592398 : DepthEnvelope -- Measured altitude = 1.041937. Allowable altitude = 1.500000. t= 2300.59. Stopping! : NMEA Update: $GPGGA,194302.18,3642.7290,N,-12211.1622,W,1,03,00.5,001.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194302.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.041937 < 15.000000 at time 2300.792385 : DepthEnvelope -- Measured altitude = 1.041937. Allowable altitude = 1.500000. t= 2300.79. Stopping! : Descend::execute() - Descend terminating on altitude 1.041937 < 15.000000 at time 2300.992371 : DepthEnvelope -- Measured altitude = 1.041937. Allowable altitude = 1.500000. t= 2300.99. Stopping! : Descend::execute() - Descend terminating on altitude 0.926369 < 15.000000 at time 2301.192357 : DepthEnvelope -- Measured altitude = 0.926369. Allowable altitude = 1.500000. t= 2301.19. Stopping! : Descend::execute() - Descend terminating on altitude 0.926369 < 15.000000 at time 2301.392344 : DepthEnvelope -- Measured altitude = 0.926369. Allowable altitude = 1.500000. t= 2301.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 0.926369 < 15.000000 at time 2301.592330 : DepthEnvelope -- Measured altitude = 0.926369. Allowable altitude = 1.500000. t= 2301.59. Stopping! : NMEA Update: $GPGGA,194303.18,3642.7286,N,-12211.1627,W,1,03,00.5,000.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194303.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194304.18,3642.7284,N,-12211.1629,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,194304.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194305.18,3642.7281,N,-12211.1632,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,194305.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194306.18,3642.7279,N,-12211.1634,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,194306.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194307.18,3642.7277,N,-12211.1634,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,194307.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194308.18,3642.7275,N,-12211.1635,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,194308.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2259.995180 : TerrainNav update at dvl time = 2259.995180 : _navData-> (x,y) = (4063246.81, 572694.04) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2260.00 : 48.00 : Estimated East Bias at time = 2260.00 : 48.00 : Estimated Depth Bias at time = 2260.00 : 0.00 : Estimated northing and easting = 4063294.81 : 572742.04 : NMEA Update: $GPGGA,194309.18,3642.7274,N,-12211.1636,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,194309.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194310.18,3642.7272,N,-12211.1637,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,194310.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194311.18,3642.7271,N,-12211.1637,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,194311.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194312.18,3642.7270,N,-12211.1638,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,194312.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194313.18,3642.7269,N,-12211.1638,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,194313.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194314.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194314.19,3642.7268,N,-12211.1638,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,194315.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194315.19,3642.7267,N,-12211.1638,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194316.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194316.19,3642.7266,N,-12211.1638,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194317.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194317.19,3642.7265,N,-12211.1638,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,194318.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194318.19,3642.7264,N,-12211.1638,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2269.994495 : TerrainNav update at dvl time = 2269.994495 : _navData-> (x,y) = (4063244.74, 572693.81) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2269.99 : 48.00 : Estimated East Bias at time = 2269.99 : 48.00 : Estimated Depth Bias at time = 2269.99 : 0.00 : Estimated northing and easting = 4063292.74 : 572741.81 : AshtechGps::processRecord() - $GPGGA,194319.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194319.19,3642.7263,N,-12211.1637,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194320.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194320.19,3642.7262,N,-12211.1637,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194321.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194321.19,3642.7262,N,-12211.1637,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Descend::execute() - Descend terminating on altitude 1.013174 < 15.000000 at time 2320.191056 : DepthEnvelope -- Measured altitude = 1.013174. Allowable altitude = 1.500000. t= 2320.19. Stopping! : Descend::execute() - Descend terminating on altitude 1.013174 < 15.000000 at time 2320.391042 : DepthEnvelope -- Measured altitude = 1.013174. Allowable altitude = 1.500000. t= 2320.39. Stopping! : Descend::execute() - Descend terminating on altitude 1.013174 < 15.000000 at time 2320.591028 : DepthEnvelope -- Measured altitude = 1.013174. Allowable altitude = 1.500000. t= 2320.59. Stopping! : NMEA Update: $GPGGA,194322.19,3642.7259,N,-12211.1637,W,1,03,00.5,001.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194322.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.013332 < 15.000000 at time 2320.801014 : DepthEnvelope -- Measured altitude = 1.013332. Allowable altitude = 1.500000. t= 2320.80. Stopping! : Descend::execute() - Descend terminating on altitude 1.013332 < 15.000000 at time 2321.001000 : DepthEnvelope -- Measured altitude = 1.013332. Allowable altitude = 1.500000. t= 2321.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.013332 < 15.000000 at time 2321.200987 : DepthEnvelope -- Measured altitude = 1.013332. Allowable altitude = 1.500000. t= 2321.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.055372 < 15.000000 at time 2321.400973 : DepthEnvelope -- Measured altitude = 1.055372. Allowable altitude = 1.500000. t= 2321.40. Stopping! : AshtechGps::processRecord() - $GPGGA,194323.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.055372 < 15.000000 at time 2321.600959 : DepthEnvelope -- Measured altitude = 1.055372. Allowable altitude = 1.500000. t= 2321.60. Stopping! : NMEA Update: $GPGGA,194323.19,3642.7258,N,-12211.1637,W,1,03,00.5,001.1,M,-99.9,M,,*4e : Descend::execute() - Descend terminating on altitude 1.055372 < 15.000000 at time 2321.800946 : DepthEnvelope -- Measured altitude = 1.055372. Allowable altitude = 1.500000. t= 2321.80. Stopping! : Descend::execute() - Descend terminating on altitude 1.103225 < 15.000000 at time 2322.000932 : DepthEnvelope -- Measured altitude = 1.103225. Allowable altitude = 1.500000. t= 2322.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.103225 < 15.000000 at time 2322.200918 : DepthEnvelope -- Measured altitude = 1.103225. Allowable altitude = 1.500000. t= 2322.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.103225 < 15.000000 at time 2322.400904 : DepthEnvelope -- Measured altitude = 1.103225. Allowable altitude = 1.500000. t= 2322.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194324.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.147311 < 15.000000 at time 2322.600891 : NMEA Update: $GPGGA,194324.19,3642.7257,N,-12211.1637,W,1,03,00.5,001.1,M,-99.9,M,,*46 : DepthEnvelope -- Measured altitude = 1.147311. Allowable altitude = 1.500000. t= 2322.60. Stopping! : Descend::execute() - Descend terminating on altitude 1.147311 < 15.000000 at time 2322.800877 : DepthEnvelope -- Measured altitude = 1.147311. Allowable altitude = 1.500000. t= 2322.80. Stopping! : Descend::execute() - Descend terminating on altitude 1.147311 < 15.000000 at time 2323.000863 : DepthEnvelope -- Measured altitude = 1.147311. Allowable altitude = 1.500000. t= 2323.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.148062 < 15.000000 at time 2323.200850 : DepthEnvelope -- Measured altitude = 1.148062. Allowable altitude = 1.500000. t= 2323.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.148062 < 15.000000 at time 2323.400836 : DepthEnvelope -- Measured altitude = 1.148062. Allowable altitude = 1.500000. t= 2323.40. Stopping! : AshtechGps::processRecord() - $GPGGA,194325.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.148062 < 15.000000 at time 2323.600822 : DepthEnvelope -- Measured altitude = 1.148062. Allowable altitude = 1.500000. t= 2323.60. Stopping! : NMEA Update: $GPGGA,194325.19,3642.7256,N,-12211.1637,W,1,03,00.5,001.1,M,-99.9,M,,*46 : Descend::execute() - Descend terminating on altitude 1.249852 < 15.000000 at time 2323.800809 : DepthEnvelope -- Measured altitude = 1.249852. Allowable altitude = 1.500000. t= 2323.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.249852 < 15.000000 at time 2324.000795 : DepthEnvelope -- Measured altitude = 1.249852. Allowable altitude = 1.500000. t= 2324.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.249852 < 15.000000 at time 2324.200781 : DepthEnvelope -- Measured altitude = 1.249852. Allowable altitude = 1.500000. t= 2324.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.260640 < 15.000000 at time 2324.400768 : DepthEnvelope -- Measured altitude = 1.260640. Allowable altitude = 1.500000. t= 2324.40. Stopping! : AshtechGps::processRecord() - $GPGGA,194326.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.260640 < 15.000000 at time 2324.600754 : DepthEnvelope -- Measured altitude = 1.260640. Allowable altitude = 1.500000. t= 2324.60. Stopping! : NMEA Update: $GPGGA,194326.19,3642.7254,N,-12211.1637,W,1,03,00.5,001.3,M,-99.9,M,,*45 : Descend::execute() - Descend terminating on altitude 1.260640 < 15.000000 at time 2324.800740 : DepthEnvelope -- Measured altitude = 1.260640. Allowable altitude = 1.500000. t= 2324.80. Stopping! : Descend::execute() - Descend terminating on altitude 1.295194 < 15.000000 at time 2325.000726 : DepthEnvelope -- Measured altitude = 1.295194. Allowable altitude = 1.500000. t= 2325.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.295194 < 15.000000 at time 2325.200713 : DepthEnvelope -- Measured altitude = 1.295194. Allowable altitude = 1.500000. t= 2325.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.295194 < 15.000000 at time 2325.400699 : DepthEnvelope -- Measured altitude = 1.295194. Allowable altitude = 1.500000. t= 2325.40. Stopping! : AshtechGps::processRecord() - $GPGGA,194327.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.375929 < 15.000000 at time 2325.600685 : DepthEnvelope -- Measured altitude = 1.375929. Allowable altitude = 1.500000. t= 2325.60. Stopping! : NMEA Update: $GPGGA,194327.19,3642.7253,N,-12211.1637,W,1,03,00.5,001.4,M,-99.9,M,,*44 : Descend::execute() - Descend terminating on altitude 1.375929 < 15.000000 at time 2325.800672 : DepthEnvelope -- Measured altitude = 1.375929. Allowable altitude = 1.500000. t= 2325.80. Stopping! : Descend::execute() - Descend terminating on altitude 1.375929 < 15.000000 at time 2326.000658 : DepthEnvelope -- Measured altitude = 1.375929. Allowable altitude = 1.500000. t= 2326.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.438604 < 15.000000 at time 2326.200644 : DepthEnvelope -- Measured altitude = 1.438604. Allowable altitude = 1.500000. t= 2326.20. Stopping! : Descend::execute() - Descend terminating on altitude 1.438604 < 15.000000 at time 2326.400630 : DepthEnvelope -- Measured altitude = 1.438604. Allowable altitude = 1.500000. t= 2326.40. Stopping! : AshtechGps::processRecord() - $GPGGA,194328.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.438604 < 15.000000 at time 2326.600617 : NMEA Update: $GPGGA,194328.19,3642.7251,N,-12211.1636,W,1,03,00.5,001.4,M,-99.9,M,,*48 : DepthEnvelope -- Measured altitude = 1.438604. Allowable altitude = 1.500000. t= 2326.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.446026 < 15.000000 at time 2326.800603 : DepthEnvelope -- Measured altitude = 1.446026. Allowable altitude = 1.500000. t= 2326.80. Stopping! : Descend::execute() - Descend terminating on altitude 1.446026 < 15.000000 at time 2327.000589 : DepthEnvelope -- Measured altitude = 1.446026. Allowable altitude = 1.500000. t= 2327.00. Stopping! : Descend::execute() - Descend terminating on altitude 1.446026 < 15.000000 at time 2327.200576 : DepthEnvelope -- Measured altitude = 1.446026. Allowable altitude = 1.500000. t= 2327.20. Stopping! : TerrainNav update at nav time = 2279.993810 : TerrainNav update at dvl time = 2279.993810 : _navData-> (x,y) = (4063242.36, 572694.01) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2279.99 : 48.00 : Estimated East Bias at time = 2279.99 : 48.00 : Estimated Depth Bias at time = 2279.99 : 0.00 : Estimated northing and easting = 4063290.36 : 572742.01 : Descend::execute() - Descend terminating on altitude 1.531767 < 15.000000 at time 2327.400562 : AshtechGps::processRecord() - $GPGGA,194329.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.531767 < 15.000000 at time 2327.600548 : NMEA Update: $GPGGA,194329.19,3642.7250,N,-12211.1636,W,1,03,00.5,001.5,M,-99.9,M,,*49 : Descend::execute() - Descend terminating on altitude 1.531767 < 15.000000 at time 2327.800535 : Descend::execute() - Descend terminating on altitude 1.633200 < 15.000000 at time 2328.000521 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.633200 < 15.000000 at time 2328.200507 : Descend::execute() - Descend terminating on altitude 1.633200 < 15.000000 at time 2328.400494 : AshtechGps::processRecord() - $GPGGA,194330.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.715200 < 15.000000 at time 2328.600480 : NMEA Update: $GPGGA,194330.19,3642.7248,N,-12211.1636,W,1,03,00.5,001.7,M,-99.9,M,,*4a : Descend::execute() - Descend terminating on altitude 1.715200 < 15.000000 at time 2328.800466 : Descend::execute() - Descend terminating on altitude 1.715200 < 15.000000 at time 2329.000453 : Descend::execute() - Descend terminating on altitude 1.762281 < 15.000000 at time 2329.200439 : Descend::execute() - Descend terminating on altitude 1.762281 < 15.000000 at time 2329.400425 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194331.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.762281 < 15.000000 at time 2329.600411 : NMEA Update: $GPGGA,194331.19,3642.7247,N,-12211.1636,W,1,03,00.5,001.8,M,-99.9,M,,*4b : Descend::execute() - Descend terminating on altitude 1.816929 < 15.000000 at time 2329.800398 : Descend::execute() - Descend terminating on altitude 1.816929 < 15.000000 at time 2330.000384 : Descend::execute() - Descend terminating on altitude 1.816929 < 15.000000 at time 2330.200370 : Descend::execute() - Descend terminating on altitude 1.895820 < 15.000000 at time 2330.400357 : AshtechGps::processRecord() - $GPGGA,194332.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.895820 < 15.000000 at time 2330.600343 : NMEA Update: $GPGGA,194332.19,3642.7245,N,-12211.1636,W,1,03,00.5,001.9,M,-99.9,M,,*4b : Descend::execute() - Descend terminating on altitude 1.895820 < 15.000000 at time 2330.800329 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 1.938741 < 15.000000 at time 2331.000315 : Descend::execute() - Descend terminating on altitude 1.938741 < 15.000000 at time 2331.200302 : Descend::execute() - Descend terminating on altitude 1.938741 < 15.000000 at time 2331.400288 : AshtechGps::processRecord() - $GPGGA,194333.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 1.964003 < 15.000000 at time 2331.600274 : NMEA Update: $GPGGA,194333.19,3642.7244,N,-12211.1636,W,1,03,00.5,002.0,M,-99.9,M,,*41 : Descend::execute() - Descend terminating on altitude 1.964003 < 15.000000 at time 2331.800261 : Descend::execute() - Descend terminating on altitude 1.964003 < 15.000000 at time 2332.000247 : Descend::execute() - Descend terminating on altitude 2.068825 < 15.000000 at time 2332.200233 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.068825 < 15.000000 at time 2332.400219 : AshtechGps::processRecord() - $GPGGA,194334.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.068825 < 15.000000 at time 2332.600206 : NMEA Update: $GPGGA,194334.19,3642.7243,N,-12211.1636,W,1,03,00.5,002.1,M,-99.9,M,,*40 : Descend::execute() - Descend terminating on altitude 2.108150 < 15.000000 at time 2332.800192 : Descend::execute() - Descend terminating on altitude 2.108150 < 15.000000 at time 2333.000178 : Descend::execute() - Descend terminating on altitude 2.108150 < 15.000000 at time 2333.200165 : Descend::execute() - Descend terminating on altitude 2.189346 < 15.000000 at time 2333.400151 : AshtechGps::processRecord() - $GPGGA,194335.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.189346 < 15.000000 at time 2333.600137 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194335.19,3642.7241,N,-12211.1636,W,1,03,00.5,002.2,M,-99.9,M,,*40 : Descend::execute() - Descend terminating on altitude 2.189346 < 15.000000 at time 2333.800124 : Descend::execute() - Descend terminating on altitude 2.241104 < 15.000000 at time 2334.000110 : Descend::execute() - Descend terminating on altitude 2.241104 < 15.000000 at time 2334.200096 : Descend::execute() - Descend terminating on altitude 2.241104 < 15.000000 at time 2334.400083 : AshtechGps::processRecord() - $GPGGA,194336.00,,,,,0,00,,,M,,M,,*42 : Descend::execute() - Descend terminating on altitude 2.287935 < 15.000000 at time 2334.600069 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194336.19,3642.7240,N,-12211.1636,W,1,03,00.5,002.3,M,-99.9,M,,*43 : Descend::execute() - Descend terminating on altitude 2.287935 < 15.000000 at time 2334.800055 : Descend::execute() - Descend terminating on altitude 2.287935 < 15.000000 at time 2335.000041 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.350960 < 15.000000 at time 2335.200028 : Descend::execute() - Descend terminating on altitude 2.350960 < 15.000000 at time 2335.400014 : AshtechGps::processRecord() - $GPGGA,194337.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.350960 < 15.000000 at time 2335.600000 : NMEA Update: $GPGGA,194337.19,3642.7239,N,-12211.1637,W,1,03,00.5,002.4,M,-99.9,M,,*4a : Descend::execute() - Descend terminating on altitude 2.407265 < 15.000000 at time 2335.799987 : Descend::execute() - Descend terminating on altitude 2.407265 < 15.000000 at time 2335.999973 : Descend::execute() - Descend terminating on altitude 2.407265 < 15.000000 at time 2336.199959 : Descend::execute() - Descend terminating on altitude 2.461902 < 15.000000 at time 2336.399945 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194338.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.461902 < 15.000000 at time 2336.599932 : NMEA Update: $GPGGA,194338.19,3642.7237,N,-12211.1637,W,1,03,00.5,002.5,M,-99.9,M,,*4a : Descend::execute() - Descend terminating on altitude 2.461902 < 15.000000 at time 2336.799918 : Descend::execute() - Descend terminating on altitude 2.508601 < 15.000000 at time 2336.999904 : Descend::execute() - Descend terminating on altitude 2.508601 < 15.000000 at time 2337.199891 : TerrainNav update at nav time = 2290.003124 : TerrainNav update at dvl time = 2290.003124 : _navData-> (x,y) = (4063239.81, 572693.88) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on altitude 2.508601 < 15.000000 at time 2337.399877 : Estimated North Bias at time = 2290.00 : 48.00 : Estimated East Bias at time = 2290.00 : 48.00 : Estimated Depth Bias at time = 2290.00 : 0.00 : Estimated northing and easting = 4063287.81 : 572741.88 : AshtechGps::processRecord() - $GPGGA,194339.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.562705 < 15.000000 at time 2337.599863 : NMEA Update: $GPGGA,194339.19,3642.7236,N,-12211.1637,W,1,03,00.5,002.6,M,-99.9,M,,*49 : Descend::execute() - Descend terminating on altitude 2.562705 < 15.000000 at time 2337.799850 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.562705 < 15.000000 at time 2337.999836 : Descend::execute() - Descend terminating on altitude 2.638744 < 15.000000 at time 2338.199822 : Descend::execute() - Descend terminating on altitude 2.638744 < 15.000000 at time 2338.399809 : AshtechGps::processRecord() - $GPGGA,194340.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.638744 < 15.000000 at time 2338.599795 : NMEA Update: $GPGGA,194340.19,3642.7235,N,-12211.1638,W,1,03,00.5,002.6,M,-99.9,M,,*4b : Descend::execute() - Descend terminating on altitude 2.690934 < 15.000000 at time 2338.799781 : Descend::execute() - Descend terminating on altitude 2.690934 < 15.000000 at time 2338.999768 : Descend::execute() - Descend terminating on altitude 2.690934 < 15.000000 at time 2339.199754 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.733206 < 15.000000 at time 2339.399740 : AshtechGps::processRecord() - $GPGGA,194341.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.733206 < 15.000000 at time 2339.599726 : NMEA Update: $GPGGA,194341.19,3642.7234,N,-12211.1638,W,1,03,00.5,002.7,M,-99.9,M,,*4a : Descend::execute() - Descend terminating on altitude 2.733206 < 15.000000 at time 2339.799713 : Descend::execute() - Descend terminating on altitude 2.782006 < 15.000000 at time 2339.999699 : Descend::execute() - Descend terminating on altitude 2.782006 < 15.000000 at time 2340.199685 : Descend::execute() - Descend terminating on altitude 2.782006 < 15.000000 at time 2340.399672 : AshtechGps::processRecord() - $GPGGA,194342.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.849147 < 15.000000 at time 2340.599658 : NMEA Update: $GPGGA,194342.19,3642.7233,N,-12211.1638,W,1,03,00.5,002.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 2.849147 < 15.000000 at time 2340.799644 : Descend::execute() - Descend terminating on altitude 2.849147 < 15.000000 at time 2340.999630 : Descend::execute() - Descend terminating on altitude 2.973219 < 15.000000 at time 2341.199617 : Descend::execute() - Descend terminating on altitude 2.973219 < 15.000000 at time 2341.399603 : AshtechGps::processRecord() - $GPGGA,194343.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 2.973219 < 15.000000 at time 2341.599589 : NMEA Update: $GPGGA,194343.19,3642.7232,N,-12211.1638,W,1,03,00.5,003.0,M,-99.9,M,,*48 : Descend::execute() - Descend terminating on altitude 3.021585 < 15.000000 at time 2341.799576 : Descend::execute() - Descend terminating on altitude 3.021585 < 15.000000 at time 2341.999562 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 3.021585 < 15.000000 at time 2342.199548 : Descend::execute() - Descend terminating on altitude 3.106353 < 15.000000 at time 2342.399534 : Descend::execute() - Descend terminating on altitude 3.106353 < 15.000000 at time 2342.599521 : AshtechGps::processRecord() - $GPGGA,194344.00,,,,,0,00,,,M,,M,,*47 : NMEA Update: $GPGGA,194344.19,3642.7231,N,-12211.1639,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.106353 < 15.000000 at time 2342.799507 : Descend::execute() - Descend terminating on altitude 3.109427 < 15.000000 at time 2342.999493 : Descend::execute() - Descend terminating on altitude 3.109427 < 15.000000 at time 2343.199480 : Descend::execute() - Descend terminating on altitude 3.109427 < 15.000000 at time 2343.399466 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194345.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.181585 < 15.000000 at time 2343.599452 : NMEA Update: $GPGGA,194345.19,3642.7230,N,-12211.1639,W,1,03,00.5,003.2,M,-99.9,M,,*4f : Descend::execute() - Descend terminating on altitude 3.181585 < 15.000000 at time 2343.799439 : Descend::execute() - Descend terminating on altitude 3.181585 < 15.000000 at time 2343.999425 : Descend::execute() - Descend terminating on altitude 3.228577 < 15.000000 at time 2344.199411 : Descend::execute() - Descend terminating on altitude 3.228577 < 15.000000 at time 2344.399398 : AshtechGps::processRecord() - $GPGGA,194346.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.228577 < 15.000000 at time 2344.599384 : NMEA Update: $GPGGA,194346.19,3642.7229,N,-12211.1639,W,1,03,00.5,003.2,M,-99.9,M,,*44 : Descend::execute() - Descend terminating on altitude 3.264828 < 15.000000 at time 2344.799370 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 3.264828 < 15.000000 at time 2344.999357 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Descend::execute() - Descend terminating on altitude 3.264828 < 15.000000 at time 2345.199343 : Descend::execute() - Descend terminating on altitude 3.383989 < 15.000000 at time 2345.399329 : AshtechGps::processRecord() - $GPGGA,194347.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.383989 < 15.000000 at time 2345.599315 : NMEA Update: $GPGGA,194347.19,3642.7228,N,-12211.1640,W,1,03,00.5,003.4,M,-99.9,M,,*4c : Descend::execute() - Descend terminating on altitude 3.383989 < 15.000000 at time 2345.799302 : Descend::execute() - Descend terminating on altitude 3.388328 < 15.000000 at time 2345.999288 : Descend::execute() - Descend terminating on altitude 3.388328 < 15.000000 at time 2346.199274 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=0 horz=0.05 speedMode=1 speed=0.00 : Descend::execute() - Descend terminating on altitude 3.388328 < 15.000000 at time 2346.399261 : DepthEnvelope -- Depth 875.097775 shallower than restart depth 875.157196 and altitude 3.388328 greater than min altitude 1.500000 at t= 2346.40. Starting prop! : AshtechGps::processRecord() - $GPGGA,194348.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.531372 < 15.000000 at time 2346.599247 : NMEA Update: $GPGGA,194348.19,3642.7227,N,-12211.1640,W,1,03,00.5,003.5,M,-99.9,M,,*4d : Descend::execute() - Descend terminating on altitude 3.531372 < 15.000000 at time 2346.799233 : Descend::execute() - Descend terminating on altitude 3.531372 < 15.000000 at time 2346.999219 : Descend::execute() - Descend terminating on altitude 3.535682 < 15.000000 at time 2347.199206 : TerrainNav update at nav time = 2300.002439 : TerrainNav update at dvl time = 2300.002439 : _navData-> (x,y) = (4063237.99, 572693.43) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2300.00 : 48.00 : Estimated East Bias at time = 2300.00 : 48.00 : Estimated Depth Bias at time = 2300.00 : 0.00 : Estimated northing and easting = 4063285.99 : 572741.43 : Descend::execute() - Descend terminating on altitude 3.535682 < 15.000000 at time 2347.399192 : AshtechGps::processRecord() - $GPGGA,194349.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.535682 < 15.000000 at time 2347.599178 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194349.19,3642.7226,N,-12211.1640,W,1,03,00.5,003.5,M,-99.9,M,,*4d : Descend::execute() - Descend terminating on altitude 3.613060 < 15.000000 at time 2347.799165 : Descend::execute() - Descend terminating on altitude 3.613060 < 15.000000 at time 2347.999151 : Descend::execute() - Descend terminating on altitude 3.613060 < 15.000000 at time 2348.199137 : stat is 92230 : got a SAN packet : time:71071.703125 : lat:36.7120 lon:-122.1860 : slant range: 1.00 : SNR:13.700000 AGC:43 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71200 lon -122.18603 : Descend::execute() - Descend terminating on altitude 3.613060 < 15.000000 at time 2348.399123 : AshtechGps::processRecord() - $GPGGA,194350.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.710831 < 15.000000 at time 2348.599110 : NMEA Update: $GPGGA,194350.19,3642.7201,N,-12211.1617,W,1,03,00.5,003.7,M,-99.9,M,,*40 : Descend::execute() - Descend terminating on altitude 3.710831 < 15.000000 at time 2348.799096 : Descend::execute() - Descend terminating on altitude 3.785470 < 15.000000 at time 2348.999082 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 3.785470 < 15.000000 at time 2349.199069 : Descend::execute() - Descend terminating on altitude 3.785470 < 15.000000 at time 2349.399055 : AshtechGps::processRecord() - $GPGGA,194351.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 3.911957 < 15.000000 at time 2349.599041 : NMEA Update: $GPGGA,194351.19,3642.7200,N,-12211.1617,W,1,03,00.5,003.9,M,-99.9,M,,*4e : Descend::execute() - Descend terminating on altitude 3.911957 < 15.000000 at time 2349.799028 : Descend::execute() - Descend terminating on altitude 3.911957 < 15.000000 at time 2349.999014 : Descend::execute() - Descend terminating on altitude 4.010179 < 15.000000 at time 2350.199000 : Descend::execute() - Descend terminating on altitude 4.010179 < 15.000000 at time 2350.398987 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194352.00,,,,,0,00,,,M,,M,,*40 : Descend::execute() - Descend terminating on altitude 4.010179 < 15.000000 at time 2350.598973 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194352.19,3642.7198,N,-12211.1617,W,1,03,00.5,004.0,M,-99.9,M,,*41 : Descend::execute() - Descend terminating on altitude 4.070928 < 15.000000 at time 2350.798959 : Descend::execute() - Descend terminating on altitude 4.070928 < 15.000000 at time 2350.998945 : Descend::execute() - Descend terminating on altitude 4.070928 < 15.000000 at time 2351.198932 : Descend::execute() - Descend terminating on altitude 4.111254 < 15.000000 at time 2351.398918 : AshtechGps::processRecord() - $GPGGA,194353.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 4.111254 < 15.000000 at time 2351.598904 : NMEA Update: $GPGGA,194353.19,3642.7197,N,-12211.1617,W,1,03,00.5,004.1,M,-99.9,M,,*4e : Descend::execute() - Descend terminating on altitude 4.111254 < 15.000000 at time 2351.798891 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 4.133898 < 15.000000 at time 2351.998877 : Descend::execute() - Descend terminating on altitude 4.133898 < 15.000000 at time 2352.198863 : Descend::execute() - Descend terminating on altitude 4.133898 < 15.000000 at time 2352.398849 : AshtechGps::processRecord() - $GPGGA,194354.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on altitude 4.185403 < 15.000000 at time 2352.598836 : NMEA Update: $GPGGA,194354.19,3642.7194,N,-12211.1617,W,1,03,00.5,004.2,M,-99.9,M,,*49 : Descend::execute() - Descend terminating on altitude 4.185403 < 15.000000 at time 2352.798822 : Descend::execute() - Descend terminating on altitude 4.185403 < 15.000000 at time 2352.998808 : LayeredControl::execute() -- (t = 2353.198795) Behavior descend:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 2353.198795) Behavior acousticUpdate:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2353.198795) Behavior setpoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194355.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194355.19,3642.7192,N,-12211.1617,W,1,03,00.5,004.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194356.00,,,,,0,00,,,M,,M,,*44 : NMEA Update: $GPGGA,194356.19,3642.7189,N,-12211.1616,W,1,03,00.5,004.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194357.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194357.19,3642.7185,N,-12211.1616,W,1,03,00.5,004.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194358.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194358.19,3642.7182,N,-12211.1615,W,1,03,00.5,004.3,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2310.001754 : TerrainNav update at dvl time = 2310.001754 : _navData-> (x,y) = (4063229.44, 572697.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194359.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194359.19,3642.7179,N,-12211.1613,W,1,03,00.5,004.3,M,-99.9,M,,*42 : Estimated North Bias at time = 2310.00 : 48.00 : Estimated East Bias at time = 2310.00 : 48.00 : Estimated Depth Bias at time = 2310.00 : 0.00 : Estimated northing and easting = 4063277.44 : 572745.42 : AshtechGps::processRecord() - $GPGGA,194400.00,,,,,0,00,,,M,,M,,*40 : NMEA Update: $GPGGA,194400.19,3642.7176,N,-12211.1612,W,1,03,00.5,004.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194401.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194401.19,3642.7173,N,-12211.1611,W,1,03,00.5,004.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194402.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194402.19,3642.7171,N,-12211.1610,W,1,03,00.5,004.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194403.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194403.19,3642.7168,N,-12211.1609,W,1,03,00.5,004.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194404.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194404.19,3642.7166,N,-12211.1608,W,1,03,00.5,004.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194405.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194405.19,3642.7163,N,-12211.1608,W,1,03,00.5,004.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194406.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194406.19,3642.7161,N,-12211.1607,W,1,03,00.5,004.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194407.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194407.19,3642.7158,N,-12211.1606,W,1,03,00.5,004.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194408.19,3642.7156,N,-12211.1605,W,1,03,00.5,004.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194408.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2320.001069 : TerrainNav update at dvl time = 2320.001069 : _navData-> (x,y) = (4063224.75, 572698.80) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2320.00 : 48.00 : Estimated East Bias at time = 2320.00 : 48.00 : Estimated Depth Bias at time = 2320.00 : 0.00 : Estimated northing and easting = 4063272.75 : 572746.80 : AshtechGps::processRecord() - $GPGGA,194409.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194409.19,3642.7154,N,-12211.1605,W,1,03,00.5,004.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194410.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194410.19,3642.7152,N,-12211.1604,W,1,03,00.5,004.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194411.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194411.19,3642.7150,N,-12211.1604,W,1,03,00.5,004.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194412.00,,,,,0,00,,,M,,M,,*43 : NMEA Update: $GPGGA,194412.19,3642.7148,N,-12211.1603,W,1,03,00.5,004.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194413.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194413.19,3642.7146,N,-12211.1603,W,1,03,00.5,004.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194414.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194414.19,3642.7144,N,-12211.1603,W,1,03,00.5,004.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194415.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194415.19,3642.7142,N,-12211.1603,W,1,03,00.5,005.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194416.18,3642.7140,N,-12211.1602,W,1,03,00.5,005.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194416.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194417.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194417.18,3642.7139,N,-12211.1602,W,1,03,00.5,005.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194418.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194418.18,3642.7137,N,-12211.1603,W,1,03,00.5,005.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2330.000384 : TerrainNav update at dvl time = 2330.000384 : _navData-> (x,y) = (4063221.24, 572699.18) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2330.00 : 48.00 : Estimated East Bias at time = 2330.00 : 48.00 : Estimated Depth Bias at time = 2330.00 : 0.00 : Estimated northing and easting = 4063269.24 : 572747.18 : AshtechGps::processRecord() - $GPGGA,194419.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194419.18,3642.7135,N,-12211.1603,W,1,03,00.5,005.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194420.18,3642.7134,N,-12211.1603,W,1,03,00.5,005.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194420.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194421.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194421.18,3642.7132,N,-12211.1603,W,1,03,00.5,005.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194422.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194422.18,3642.7131,N,-12211.1603,W,1,03,00.5,005.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194423.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194423.18,3642.7129,N,-12211.1604,W,1,03,00.5,005.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194424.18,3642.7128,N,-12211.1604,W,1,03,00.5,005.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194424.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194425.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194425.18,3642.7127,N,-12211.1605,W,1,03,00.5,005.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194426.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194426.18,3642.7126,N,-12211.1605,W,1,03,00.5,006.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194427.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194427.18,3642.7124,N,-12211.1606,W,1,03,00.5,006.1,M,-99.9,M,,*41 : NMEA Update: $GPGGA,194428.18,3642.7123,N,-12211.1606,W,1,03,00.5,006.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194428.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2339.999699 : TerrainNav update at dvl time = 2339.999699 : _navData-> (x,y) = (4063218.78, 572698.59) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2340.00 : 48.00 : Estimated East Bias at time = 2340.00 : 48.00 : Estimated Depth Bias at time = 2340.00 : 0.00 : Estimated northing and easting = 4063266.78 : 572746.59 : AshtechGps::processRecord() - $GPGGA,194429.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194429.18,3642.7122,N,-12211.1607,W,1,03,00.5,006.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194430.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194430.18,3642.7121,N,-12211.1607,W,1,03,00.5,006.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194431.18,3642.7120,N,-12211.1608,W,1,03,00.5,006.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194431.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194432.18,3642.7119,N,-12211.1609,W,1,03,00.5,006.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194432.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194433.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194433.18,3642.7118,N,-12211.1609,W,1,03,00.5,006.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194434.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194434.18,3642.7118,N,-12211.1610,W,1,03,00.5,007.0,M,-99.9,M,,*4b : NMEA Update: $GPGGA,194435.18,3642.7117,N,-12211.1611,W,1,03,00.5,007.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194435.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194436.18,3642.7116,N,-12211.1611,W,1,03,00.5,007.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194436.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194437.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194437.18,3642.7115,N,-12211.1612,W,1,03,00.5,007.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194438.00,,,,,0,00,,,M,,M,,*4B : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194438.18,3642.7114,N,-12211.1613,W,1,03,00.5,007.5,M,-99.9,M,,*4d : TerrainNav update at nav time = 2349.999014 : TerrainNav update at dvl time = 2349.999014 : _navData-> (x,y) = (4063217.16, 572697.63) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2350.00 : 48.00 : Estimated East Bias at time = 2350.00 : 48.00 : Estimated Depth Bias at time = 2350.00 : 0.00 : Estimated northing and easting = 4063265.16 : 572745.63 : NMEA Update: $GPGGA,194439.18,3642.7114,N,-12211.1613,W,1,03,00.5,007.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194439.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194440.18,3642.7113,N,-12211.1614,W,1,03,00.5,007.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194440.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194441.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194441.18,3642.7112,N,-12211.1615,W,1,03,00.5,007.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194442.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194442.18,3642.7112,N,-12211.1616,W,1,03,00.5,007.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194443.18,3642.7111,N,-12211.1616,W,1,03,00.5,008.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194443.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194444.18,3642.7111,N,-12211.1617,W,1,03,00.5,008.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194444.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194445.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194445.18,3642.7110,N,-12211.1618,W,1,03,00.5,008.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194446.00,,,,,0,00,,,M,,M,,*42 : NMEA Update: $GPGGA,194446.18,3642.7110,N,-12211.1619,W,1,03,00.5,008.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194447.18,3642.7110,N,-12211.1620,W,1,03,00.5,008.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194447.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194448.18,3642.7109,N,-12211.1621,W,1,03,00.5,008.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194448.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2359.998329 : TerrainNav update at dvl time = 2359.998329 : _navData-> (x,y) = (4063216.27, 572696.44) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2360.00 : 48.00 : Estimated East Bias at time = 2360.00 : 48.00 : Estimated Depth Bias at time = 2360.00 : 0.00 : Estimated northing and easting = 4063264.27 : 572744.44 : AshtechGps::processRecord() - $GPGGA,194449.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194449.18,3642.7109,N,-12211.1622,W,1,03,00.5,008.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194450.00,,,,,0,00,,,M,,M,,*45 : NMEA Update: $GPGGA,194450.18,3642.7109,N,-12211.1622,W,1,03,00.5,008.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194451.18,3642.7109,N,-12211.1623,W,1,03,00.5,008.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194451.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194452.18,3642.7108,N,-12211.1624,W,1,03,00.5,009.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194452.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,194453.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194453.18,3642.7108,N,-12211.1625,W,1,03,00.5,009.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194454.18,3642.7108,N,-12211.1626,W,1,03,00.5,009.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194454.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 2413.394671) Behavior setpoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 2413.39 (wplog) The current location (N,E) = 4063216.0 , 572695.7 (wplog) The next waypoint = 4063051.7 , 572628.7 (wplog) The bearing to the next w.p. is 202.2 Degrees. : LayeredControl::execute() -- (t = 2413.394671) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=875.28 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194455.18,3642.7108,N,-12211.1626,W,1,03,00.5,009.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194455.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : stat is 92230 : got a SAN packet : time:71137.929688 : lat:36.7118 lon:-122.1861 : slant range: 1.00 : SNR:14.400000 AGC:53 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71183 lon -122.18607 : NMEA Update: $GPGGA,194456.18,3642.7096,N,-12211.1644,W,1,03,00.5,009.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194456.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.09 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194457.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194457.18,3642.7096,N,-12211.1645,W,1,03,00.5,009.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=875.15 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194458.18,3642.7096,N,-12211.1646,W,1,03,00.5,009.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194458.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2369.997644 : TerrainNav update at dvl time = 2369.997644 : _navData-> (x,y) = (4063213.69, 572692.69) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=875.20 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194459.18,3642.7095,N,-12211.1647,W,1,03,00.5,009.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194459.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2370.00 : 48.00 : Estimated East Bias at time = 2370.00 : 48.00 : Estimated Depth Bias at time = 2370.00 : 0.00 : Estimated northing and easting = 4063261.69 : 572740.69 : NMEA Update: $GPGGA,194500.18,3642.7094,N,-12211.1649,W,1,03,00.5,009.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194500.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=875.22 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194501.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194501.18,3642.7093,N,-12211.1651,W,1,03,00.5,009.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=875.62 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194502.18,3642.7091,N,-12211.1654,W,1,03,00.5,009.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194502.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194503.18,3642.7089,N,-12211.1657,W,1,03,00.5,009.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194503.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.33 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194504.18,3642.7087,N,-12211.1660,W,1,03,00.5,009.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194504.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.45 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194505.00,,,,,0,00,,,M,,M,,*44 : NMEA Update: $GPGGA,194505.18,3642.7083,N,-12211.1662,W,1,03,00.5,009.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.76 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194506.18,3642.7080,N,-12211.1665,W,1,03,00.5,009.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194506.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194507.18,3642.7076,N,-12211.1667,W,1,03,00.5,009.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194507.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.24 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194508.18,3642.7072,N,-12211.1669,W,1,03,00.5,009.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194508.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2379.996959 : TerrainNav update at dvl time = 2379.996959 : _navData-> (x,y) = (4063208.76, 572689.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=875.41 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : Estimated North Bias at time = 2380.00 : 48.00 : Estimated East Bias at time = 2380.00 : 48.00 : Estimated Depth Bias at time = 2380.00 : 0.00 : Estimated northing and easting = 4063256.76 : 572737.30 : AshtechGps::processRecord() - $GPGGA,194509.00,,,,,0,00,,,M,,M,,*48 : NMEA Update: $GPGGA,194509.18,3642.7067,N,-12211.1670,W,1,03,00.5,009.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194510.18,3642.7062,N,-12211.1671,W,1,03,00.5,009.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194510.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.32 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194511.18,3642.7058,N,-12211.1672,W,1,03,00.5,009.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194511.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.29 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194512.18,3642.7053,N,-12211.1673,W,1,03,00.5,008.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194512.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=875.59 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194513.18,3642.7047,N,-12211.1674,W,1,03,00.5,008.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194513.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194514.18,3642.7042,N,-12211.1674,W,1,03,00.5,008.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194514.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.75 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194515.18,3642.7037,N,-12211.1675,W,1,03,00.5,008.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194515.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.83 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194516.18,3642.7031,N,-12211.1675,W,1,03,00.5,007.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194516.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194517.18,3642.7025,N,-12211.1676,W,1,03,00.5,007.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194517.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.47 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194518.18,3642.7019,N,-12211.1676,W,1,03,00.5,007.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194518.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.45 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2389.996274 : TerrainNav update at dvl time = 2389.996274 : _navData-> (x,y) = (4063198.81, 572688.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194519.18,3642.7013,N,-12211.1677,W,1,03,00.5,006.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194519.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2390.00 : 48.00 : Estimated East Bias at time = 2390.00 : 48.00 : Estimated Depth Bias at time = 2390.00 : 0.00 : Estimated northing and easting = 4063246.81 : 572736.33 : LayeredControl _resolvedCommand - vertMode=2 vert=876.35 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194520.18,3642.7006,N,-12211.1678,W,1,03,00.5,006.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194520.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194521.18,3642.6999,N,-12211.1679,W,1,03,00.5,006.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194521.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.90 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194522.18,3642.6993,N,-12211.1680,W,1,03,00.5,005.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194522.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.55 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194523.18,3642.6986,N,-12211.1681,W,1,03,00.5,005.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194523.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194524.18,3642.6979,N,-12211.1682,W,1,03,00.5,005.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194524.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.28 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194525.18,3642.6971,N,-12211.1684,W,1,03,00.5,004.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194525.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.41 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194526.18,3642.6964,N,-12211.1685,W,1,03,00.5,004.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194526.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.57 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194527.18,3642.6957,N,-12211.1687,W,1,03,00.5,004.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194527.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194528.18,3642.6949,N,-12211.1689,W,1,03,00.5,004.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194528.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.72 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2399.995589 : TerrainNav update at dvl time = 2399.995589 : _navData-> (x,y) = (4063185.83, 572686.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194529.18,3642.6942,N,-12211.1692,W,1,03,00.5,004.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194529.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2400.00 : 48.00 : Estimated East Bias at time = 2400.00 : 48.00 : Estimated Depth Bias at time = 2400.00 : 0.00 : Estimated northing and easting = 4063233.83 : 572734.37 : LayeredControl _resolvedCommand - vertMode=2 vert=878.09 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194530.18,3642.6935,N,-12211.1694,W,1,03,00.5,003.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194530.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194531.18,3642.6927,N,-12211.1697,W,1,03,00.5,003.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194531.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.96 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194532.18,3642.6920,N,-12211.1700,W,1,03,00.5,003.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194532.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.07 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194533.18,3642.6912,N,-12211.1703,W,1,03,00.5,003.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194533.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.10 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194534.18,3642.6905,N,-12211.1706,W,1,03,00.5,003.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194534.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194535.18,3642.6898,N,-12211.1709,W,1,03,00.5,003.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194535.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.23 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194536.18,3642.6890,N,-12211.1713,W,1,03,00.5,003.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194536.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.31 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194537.18,3642.6883,N,-12211.1716,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194537.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194538.18,3642.6876,N,-12211.1720,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194538.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.49 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2409.994904 : TerrainNav update at dvl time = 2409.994904 : _navData-> (x,y) = (4063172.21, 572681.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194539.18,3642.6869,N,-12211.1724,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194539.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2409.99 : 48.00 : Estimated East Bias at time = 2409.99 : 48.00 : Estimated Depth Bias at time = 2409.99 : 0.00 : Estimated northing and easting = 4063220.21 : 572729.71 : LayeredControl _resolvedCommand - vertMode=2 vert=878.67 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194539.99,3642.6863,N,-12211.1728,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194540.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194540.99,3642.6856,N,-12211.1732,W,1,03,00.5,003.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=878.88 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194541.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194541.99,3642.6849,N,-12211.1736,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194542.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.98 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194542.99,3642.6842,N,-12211.1740,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194543.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.40 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194543.99,3642.6834,N,-12211.1745,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194544.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194544.99,3642.6827,N,-12211.1749,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194545.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.19 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194545.99,3642.6820,N,-12211.1754,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194546.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.34 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194546.99,3642.6813,N,-12211.1759,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194547.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194547.99,3642.6806,N,-12211.1764,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194548.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.42 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2419.994219 : TerrainNav update at dvl time = 2419.994219 : _navData-> (x,y) = (4063158.97, 572675.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194548.99,3642.6799,N,-12211.1768,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194549.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.60 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : Estimated North Bias at time = 2419.99 : 47.00 : Estimated East Bias at time = 2419.99 : 47.00 : Estimated Depth Bias at time = 2419.99 : 0.00 : Estimated northing and easting = 4063205.97 : 572722.17 : NMEA Update: $GPGGA,194549.99,3642.6792,N,-12211.1773,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194550.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.70 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194550.99,3642.6785,N,-12211.1778,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194551.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194551.99,3642.6778,N,-12211.1783,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194552.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.84 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194552.99,3642.6770,N,-12211.1787,W,1,03,00.5,002.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194553.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.97 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194553.99,3642.6763,N,-12211.1792,W,1,03,00.5,002.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194554.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194554.99,3642.6756,N,-12211.1798,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194555.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.13 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194555.99,3642.6749,N,-12211.1802,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194556.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.20 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194556.99,3642.6742,N,-12211.1807,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194557.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.40 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194557.99,3642.6735,N,-12211.1812,W,1,03,00.5,002.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194558.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2429.993534 : TerrainNav update at dvl time = 2429.993534 : _navData-> (x,y) = (4063145.73, 572668.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194558.99,3642.6727,N,-12211.1816,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194559.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.49 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : Estimated North Bias at time = 2429.99 : 47.00 : Estimated East Bias at time = 2429.99 : 47.00 : Estimated Depth Bias at time = 2429.99 : 0.00 : Estimated northing and easting = 4063192.73 : 572715.11 : NMEA Update: $GPGGA,194559.99,3642.6720,N,-12211.1821,W,1,03,00.5,002.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194600.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.64 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194600.99,3642.6713,N,-12211.1826,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194601.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194601.99,3642.6706,N,-12211.1830,W,1,03,00.5,002.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194602.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.79 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194602.99,3642.6698,N,-12211.1835,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194603.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.83 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194603.99,3642.6691,N,-12211.1840,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194604.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.04 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194604.99,3642.6684,N,-12211.1844,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194605.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194605.99,3642.6677,N,-12211.1849,W,1,03,00.5,003.0,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194606.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.14 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194606.99,3642.6669,N,-12211.1854,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194607.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.27 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194607.99,3642.6662,N,-12211.1858,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194608.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2440.002848 : TerrainNav update at dvl time = 2440.002848 : _navData-> (x,y) = (4063132.23, 572661.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194608.99,3642.6655,N,-12211.1862,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194609.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.36 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : Estimated North Bias at time = 2440.00 : 47.00 : Estimated East Bias at time = 2440.00 : 47.00 : Estimated Depth Bias at time = 2440.00 : 0.00 : Estimated northing and easting = 4063179.23 : 572708.39 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194609.99,3642.6647,N,-12211.1867,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194610.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.54 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194610.99,3642.6640,N,-12211.1871,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194611.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.65 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194611.99,3642.6633,N,-12211.1876,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194612.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194612.99,3642.6625,N,-12211.1880,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194613.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=881.79 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194613.99,3642.6618,N,-12211.1884,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194614.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.88 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194614.99,3642.6610,N,-12211.1888,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194615.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194615.99,3642.6603,N,-12211.1892,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194616.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.48 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194616.99,3642.6596,N,-12211.1897,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194617.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.18 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194617.99,3642.6589,N,-12211.1901,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194618.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2450.002163 : TerrainNav update at dvl time = 2450.002163 : _navData-> (x,y) = (4063118.57, 572655.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=882.32 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194618.99,3642.6581,N,-12211.1905,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194619.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2450.00 : 47.00 : Estimated East Bias at time = 2450.00 : 47.00 : Estimated Depth Bias at time = 2450.00 : 0.00 : Estimated northing and easting = 4063165.57 : 572702.14 : NMEA Update: $GPGGA,194619.99,3642.6574,N,-12211.1909,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194620.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.43 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194620.99,3642.6566,N,-12211.1913,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194621.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.42 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194621.99,3642.6559,N,-12211.1917,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194622.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194622.99,3642.6551,N,-12211.1921,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194623.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.61 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194623.99,3642.6544,N,-12211.1924,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194624.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.95 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194624.99,3642.6537,N,-12211.1928,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194625.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.93 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194625.99,3642.6529,N,-12211.1931,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194626.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194626.99,3642.6522,N,-12211.1935,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194627.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.03 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194627.99,3642.6515,N,-12211.1939,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194628.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.25 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2460.001478 : TerrainNav update at dvl time = 2460.001478 : _navData-> (x,y) = (4063104.86, 572649.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194628.99,3642.6507,N,-12211.1942,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194629.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2460.00 : 47.00 : Estimated East Bias at time = 2460.00 : 47.00 : Estimated Depth Bias at time = 2460.00 : 0.00 : Estimated northing and easting = 4063151.86 : 572696.71 : NMEA Update: $GPGGA,194629.99,3642.6500,N,-12211.1946,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194630.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.25 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194630.99,3642.6493,N,-12211.1950,W,1,03,00.5,003.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194631.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.52 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194631.99,3642.6485,N,-12211.1954,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194632.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.65 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194632.99,3642.6478,N,-12211.1957,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194633.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194633.99,3642.6470,N,-12211.1961,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194634.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.75 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194634.99,3642.6463,N,-12211.1965,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194635.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.96 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194635.99,3642.6455,N,-12211.1968,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194636.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194636.99,3642.6448,N,-12211.1972,W,1,03,00.5,003.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=883.98 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194637.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194637.99,3642.6440,N,-12211.1975,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194638.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=884.15 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2470.000793 : TerrainNav update at dvl time = 2470.000793 : _navData-> (x,y) = (4063091.03, 572644.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194638.99,3642.6433,N,-12211.1979,W,1,03,00.5,003.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194639.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2470.00 : 46.00 : Estimated East Bias at time = 2470.00 : 46.00 : Estimated Depth Bias at time = 2470.00 : 0.00 : Estimated northing and easting = 4063137.03 : 572690.38 : LayeredControl _resolvedCommand - vertMode=2 vert=884.25 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194639.99,3642.6425,N,-12211.1983,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194640.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194640.99,3642.6417,N,-12211.1986,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194641.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.38 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194641.98,3642.6410,N,-12211.1990,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194642.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.55 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194642.98,3642.6402,N,-12211.1993,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194643.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194643.98,3642.6395,N,-12211.1997,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194644.00,,,,,0,00,,,M,,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=884.61 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194644.98,3642.6387,N,-12211.2001,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194645.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=884.81 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194645.98,3642.6380,N,-12211.2005,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194646.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.94 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194646.98,3642.6372,N,-12211.2009,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194647.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194647.98,3642.6365,N,-12211.2013,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194648.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.07 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2480.000108 : TerrainNav update at dvl time = 2480.000108 : _navData-> (x,y) = (4063077.09, 572638.95) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194648.98,3642.6358,N,-12211.2016,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194649.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2480.00 : 46.00 : Estimated East Bias at time = 2480.00 : 46.00 : Estimated Depth Bias at time = 2480.00 : 0.00 : Estimated northing and easting = 4063123.09 : 572684.95 : LayeredControl _resolvedCommand - vertMode=2 vert=885.21 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194649.98,3642.6350,N,-12211.2020,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194650.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194650.98,3642.6343,N,-12211.2024,W,1,03,00.5,003.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194651.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.31 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194651.98,3642.6335,N,-12211.2028,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194652.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=885.49 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194652.98,3642.6328,N,-12211.2031,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194653.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.45 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194653.98,3642.6320,N,-12211.2035,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194654.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194654.98,3642.6312,N,-12211.2039,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194655.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.84 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194655.98,3642.6305,N,-12211.2043,W,1,03,00.5,003.2,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194656.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.89 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194656.98,3642.6297,N,-12211.2046,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194657.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194657.98,3642.6290,N,-12211.2050,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194658.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.99 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2489.999423 : TerrainNav update at dvl time = 2489.999423 : _navData-> (x,y) = (4063063.16, 572633.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194658.98,3642.6282,N,-12211.2054,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194659.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.16 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : Estimated North Bias at time = 2490.00 : 46.00 : Estimated East Bias at time = 2490.00 : 46.00 : Estimated Depth Bias at time = 2490.00 : 0.00 : Estimated northing and easting = 4063109.16 : 572679.45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194659.98,3642.6275,N,-12211.2058,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194700.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.65 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194700.98,3642.6267,N,-12211.2061,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194701.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194701.98,3642.6260,N,-12211.2065,W,1,03,00.5,003.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194702.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.43 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194702.98,3642.6252,N,-12211.2069,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194703.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=886.54 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194703.98,3642.6245,N,-12211.2074,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194704.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194704.98,3642.6237,N,-12211.2077,W,1,03,00.5,003.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=886.58 horzlMode=3 horz=3.53 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194705.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : stat is 92230 : got a SAN packet : time:71267.015625 : lat:36.7104 lon:-122.1870 : slant range: 1.00 : SNR:19.200001 AGC:54 : Navigation: Got a fix from the acoustic modem. Navigation: Updating position with SAN lat 36.71044 lon -122.18702 : NMEA Update: $GPGGA,194705.98,3642.6263,N,-12211.2212,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194706.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4063051.7, 572628.7), reached at t = 2544.60 (wplog) : Vehicle Position is error is (-7.2, 19.0) : LayeredControl::execute() -- (t = 2544.595683) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 2544.605682) Behavior acousticUpdate:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 2544.61 (wplog) The current location (N,E) = 4063058.9 , 572609.7 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 9.9 Degrees. : LayeredControl::execute() -- (t = 2544.605682) Behavior waypoint_homing:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=886.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194706.98,3642.6256,N,-12211.2216,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194707.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.90 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194707.98,3642.6249,N,-12211.2220,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194708.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2499.998738 : TerrainNav update at dvl time = 2499.998738 : _navData-> (x,y) = (4063055.33, 572608.22) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194708.98,3642.6241,N,-12211.2224,W,1,03,00.5,003.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194709.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194709.98,3642.6234,N,-12211.2228,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194710.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 2500.00 : 46.00 : Estimated East Bias at time = 2500.00 : 46.00 : Estimated Depth Bias at time = 2500.00 : 0.00 : Estimated northing and easting = 4063101.33 : 572654.22 : LayeredControl _resolvedCommand - vertMode=2 vert=887.18 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194710.98,3642.6227,N,-12211.2233,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194711.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194711.98,3642.6221,N,-12211.2238,W,1,03,00.5,003.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=887.35 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194712.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194712.98,3642.6215,N,-12211.2243,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194713.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194713.98,3642.6210,N,-12211.2248,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194714.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194714.98,3642.6205,N,-12211.2253,W,1,03,00.5,003.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194715.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194715.98,3642.6200,N,-12211.2258,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194716.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194716.98,3642.6196,N,-12211.2264,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194717.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=887.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194717.98,3642.6192,N,-12211.2270,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194718.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2509.998053 : TerrainNav update at dvl time = 2509.998053 : _navData-> (x,y) = (4063045.51, 572600.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194718.98,3642.6189,N,-12211.2276,W,1,03,00.5,003.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=887.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194719.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2510.00 : 47.00 : Estimated East Bias at time = 2510.00 : 47.00 : Estimated Depth Bias at time = 2510.00 : 0.00 : Estimated northing and easting = 4063092.51 : 572647.59 : NMEA Update: $GPGGA,194719.98,3642.6187,N,-12211.2282,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194720.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.91 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194720.98,3642.6185,N,-12211.2288,W,1,03,00.5,003.3,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194721.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194721.98,3642.6183,N,-12211.2294,W,1,03,00.5,003.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194722.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194722.98,3642.6182,N,-12211.2301,W,1,03,00.5,003.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194723.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194723.98,3642.6182,N,-12211.2307,W,1,03,00.5,003.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194724.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=887.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194724.98,3642.6182,N,-12211.2313,W,1,03,00.5,003.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194725.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 2564.2 with dtw = 122.64 : NMEA Update: $GPGGA,194725.98,3642.6182,N,-12211.2319,W,1,03,00.5,003.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=888.12 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194726.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194726.98,3642.6182,N,-12211.2324,W,1,03,00.5,003.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194727.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.06 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194727.98,3642.6183,N,-12211.2330,W,1,03,00.5,003.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194728.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2519.997368 : TerrainNav update at dvl time = 2519.997368 : _navData-> (x,y) = (4063044.31, 572591.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=888.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194728.98,3642.6184,N,-12211.2335,W,1,03,00.5,003.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194729.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2520.00 : 47.00 : Estimated East Bias at time = 2520.00 : 47.00 : Estimated Depth Bias at time = 2520.00 : 0.00 : Estimated northing and easting = 4063091.31 : 572638.78 : NMEA Update: $GPGGA,194729.98,3642.6186,N,-12211.2340,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194730.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194730.98,3642.6187,N,-12211.2345,W,1,03,00.5,003.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194731.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.12 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194731.98,3642.6189,N,-12211.2350,W,1,03,00.5,003.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194732.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194732.98,3642.6191,N,-12211.2354,W,1,03,00.5,003.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=888.06 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194733.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194733.98,3642.6194,N,-12211.2359,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194734.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=888.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194734.98,3642.6197,N,-12211.2363,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194735.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194735.98,3642.6200,N,-12211.2366,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194736.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2575.39 Seconds. : The vehicle position is (4063047.7, 572586.5) : NMEA Update: $GPGGA,194736.98,3642.6203,N,-12211.2370,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194737.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194737.98,3642.6206,N,-12211.2373,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194738.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.17 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2529.996683 : TerrainNav update at dvl time = 2529.996683 : _navData-> (x,y) = (4063048.86, 572585.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194738.98,3642.6210,N,-12211.2376,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194739.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2530.00 : 48.00 : Estimated East Bias at time = 2530.00 : 48.00 : Estimated Depth Bias at time = 2530.00 : 0.00 : Estimated northing and easting = 4063096.86 : 572633.65 : NMEA Update: $GPGGA,194739.98,3642.6213,N,-12211.2378,W,1,03,00.5,003.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=888.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194740.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194740.98,3642.6217,N,-12211.2380,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194741.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194741.98,3642.6221,N,-12211.2382,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194742.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.06 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194742.98,3642.6225,N,-12211.2383,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194743.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194743.98,3642.6229,N,-12211.2384,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194744.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.04 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194744.98,3642.6233,N,-12211.2385,W,1,03,00.5,002.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194745.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=888.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194745.98,3642.6237,N,-12211.2386,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194746.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194746.98,3642.6241,N,-12211.2385,W,1,03,00.5,002.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=887.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194747.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194747.98,3642.6245,N,-12211.2385,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194748.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.88 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2539.995998 : TerrainNav update at dvl time = 2539.995998 : _navData-> (x,y) = (4063056.20, 572584.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194748.98,3642.6249,N,-12211.2384,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194749.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2540.00 : 48.00 : Estimated East Bias at time = 2540.00 : 48.00 : Estimated Depth Bias at time = 2540.00 : 0.00 : Estimated northing and easting = 4063104.20 : 572632.19 : LayeredControl _resolvedCommand - vertMode=2 vert=887.79 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194749.98,3642.6253,N,-12211.2383,W,1,03,00.5,002.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194750.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194750.98,3642.6257,N,-12211.2382,W,1,03,00.5,002.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194751.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194751.98,3642.6261,N,-12211.2381,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194752.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.54 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194752.98,3642.6265,N,-12211.2379,W,1,03,00.5,002.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194753.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194753.98,3642.6269,N,-12211.2376,W,1,03,00.5,002.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=887.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194754.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194754.98,3642.6272,N,-12211.2374,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194755.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.48 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194755.98,3642.6276,N,-12211.2371,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194756.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194756.98,3642.6279,N,-12211.2368,W,1,03,00.5,002.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194757.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194757.98,3642.6282,N,-12211.2365,W,1,03,00.5,002.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194758.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2549.995313 : TerrainNav update at dvl time = 2549.995313 : _navData-> (x,y) = (4063062.76, 572587.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194758.98,3642.6284,N,-12211.2361,W,1,03,00.5,002.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194759.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2550.00 : 48.00 : Estimated East Bias at time = 2550.00 : 48.00 : Estimated Depth Bias at time = 2550.00 : 0.00 : Estimated northing and easting = 4063110.76 : 572635.49 : LayeredControl _resolvedCommand - vertMode=2 vert=887.38 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194759.98,3642.6287,N,-12211.2357,W,1,03,00.5,002.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194800.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2599.19 Seconds. : The vehicle position is is (4063063.7, 572588.6) : NMEA Update: $GPGGA,194800.98,3642.6290,N,-12211.2354,W,1,03,00.5,002.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=887.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194801.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2600.39 Seconds. : The vehicle position is (4063064.2, 572589.3) : NMEA Update: $GPGGA,194801.98,3642.6292,N,-12211.2350,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194802.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194802.98,3642.6294,N,-12211.2346,W,1,03,00.5,002.2,M,-99.9,M,,*4e : WaypointHoming: The Usbl does NOT detect the transponder at t = 2601.59 Seconds. : The vehicle position is is (4063064.7, 572590.0) : AshtechGps::processRecord() - $GPGGA,194803.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.12 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194803.98,3642.6295,N,-12211.2341,W,1,03,00.5,002.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194804.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194804.98,3642.6297,N,-12211.2337,W,1,03,00.5,002.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194805.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194805.99,3642.6298,N,-12211.2332,W,1,03,00.5,002.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194806.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=887.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194806.99,3642.6299,N,-12211.2327,W,1,03,00.5,002.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194807.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194807.99,3642.6299,N,-12211.2322,W,1,03,00.5,002.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=887.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194808.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2559.994628 : TerrainNav update at dvl time = 2559.994628 : _navData-> (x,y) = (4063065.76, 572593.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194808.99,3642.6300,N,-12211.2317,W,1,03,00.5,002.3,M,-99.9,M,,*4c : Estimated North Bias at time = 2559.99 : 49.00 : Estimated East Bias at time = 2559.99 : 49.00 : Estimated Depth Bias at time = 2559.99 : 0.00 : Estimated northing and easting = 4063114.76 : 572642.98 : AshtechGps::processRecord() - $GPGGA,194809.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.07 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194809.99,3642.6300,N,-12211.2312,W,1,03,00.5,002.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194810.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=887.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194810.99,3642.6300,N,-12211.2307,W,1,03,00.5,002.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194811.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194811.99,3642.6301,N,-12211.2302,W,1,03,00.5,002.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194812.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194812.99,3642.6301,N,-12211.2298,W,1,03,00.5,002.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194813.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194813.99,3642.6301,N,-12211.2293,W,1,03,00.5,002.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194814.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194814.99,3642.6301,N,-12211.2288,W,1,03,00.5,002.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194815.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194815.99,3642.6302,N,-12211.2282,W,1,03,00.5,002.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194816.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194816.99,3642.6302,N,-12211.2277,W,1,03,00.5,002.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194817.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=886.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194817.99,3642.6303,N,-12211.2271,W,1,03,00.5,002.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194818.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2569.993943 : TerrainNav update at dvl time = 2569.993943 : _navData-> (x,y) = (4063066.56, 572601.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194818.99,3642.6304,N,-12211.2266,W,1,03,00.5,002.2,M,-99.9,M,,*4f : Estimated North Bias at time = 2569.99 : 49.00 : Estimated East Bias at time = 2569.99 : 49.00 : AshtechGps::processRecord() - $GPGGA,194819.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 2569.99 : 0.00 : Estimated northing and easting = 4063115.56 : 572650.57 : LayeredControl _resolvedCommand - vertMode=2 vert=886.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194819.99,3642.6305,N,-12211.2261,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194820.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194820.99,3642.6306,N,-12211.2255,W,1,03,00.5,002.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194821.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194821.99,3642.6307,N,-12211.2250,W,1,03,00.5,002.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194822.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194822.99,3642.6309,N,-12211.2245,W,1,03,00.5,002.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194823.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194823.99,3642.6311,N,-12211.2240,W,1,03,00.5,002.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194824.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=886.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194824.99,3642.6313,N,-12211.2235,W,1,03,00.5,002.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194825.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2624.40 Seconds. : The vehicle position is (4063068.6, 572607.1) : NMEA Update: $GPGGA,194825.99,3642.6314,N,-12211.2230,W,1,03,00.5,002.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194826.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194826.99,3642.6317,N,-12211.2225,W,1,03,00.5,002.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194827.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2625.60 Seconds. : The vehicle position is is (4063069.1, 572608.0) : LayeredControl _resolvedCommand - vertMode=2 vert=886.70 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194827.99,3642.6319,N,-12211.2221,W,1,03,00.5,002.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194828.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2579.993258 : TerrainNav update at dvl time = 2579.993258 : _navData-> (x,y) = (4063069.81, 572609.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194828.99,3642.6322,N,-12211.2216,W,1,03,00.5,002.1,M,-99.9,M,,*4c : Estimated North Bias at time = 2579.99 : 49.00 : Estimated East Bias at time = 2579.99 : 49.00 : Estimated Depth Bias at time = 2579.99 : 0.00 : Estimated northing and easting = 4063118.81 : 572658.02 : AshtechGps::processRecord() - $GPGGA,194829.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194829.99,3642.6324,N,-12211.2211,W,1,03,00.5,002.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194830.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 2629.20 Seconds. : The vehicle position is (4063070.8, 572610.4) : NMEA Update: $GPGGA,194830.99,3642.6327,N,-12211.2206,W,1,03,00.5,002.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194831.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194831.99,3642.6330,N,-12211.2202,W,1,03,00.5,002.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194832.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194832.99,3642.6333,N,-12211.2198,W,1,03,00.5,002.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194833.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2631.60 Seconds. : The vehicle position is is (4063072.2, 572611.9) : LayeredControl _resolvedCommand - vertMode=2 vert=886.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194833.99,3642.6336,N,-12211.2194,W,1,03,00.5,002.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194834.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2632.80 Seconds. : The vehicle position is (4063072.9, 572612.7) : LayeredControl _resolvedCommand - vertMode=2 vert=886.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194834.99,3642.6340,N,-12211.2190,W,1,03,00.5,002.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194835.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194835.99,3642.6343,N,-12211.2186,W,1,03,00.5,002.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194836.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.38 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194836.99,3642.6346,N,-12211.2182,W,1,03,00.5,002.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194837.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194837.99,3642.6350,N,-12211.2178,W,1,03,00.5,002.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194838.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2590.002573 : TerrainNav update at dvl time = 2590.002573 : _navData-> (x,y) = (4063075.82, 572615.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=886.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194838.99,3642.6354,N,-12211.2174,W,1,03,00.5,002.0,M,-99.9,M,,*4a : Estimated North Bias at time = 2590.00 : 49.00 : AshtechGps::processRecord() - $GPGGA,194839.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 2590.00 : 49.00 : Estimated Depth Bias at time = 2590.00 : 0.00 : Estimated northing and easting = 4063124.82 : 572664.19 : NMEA Update: $GPGGA,194839.99,3642.6358,N,-12211.2171,W,1,03,00.5,002.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194840.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194840.99,3642.6362,N,-12211.2168,W,1,03,00.5,002.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194841.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194841.99,3642.6366,N,-12211.2166,W,1,03,00.5,002.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194842.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194842.99,3642.6370,N,-12211.2164,W,1,03,00.5,002.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194843.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.04 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 2642.40 Seconds. : The vehicle position is is (4063079.7, 572617.0) : NMEA Update: $GPGGA,194843.99,3642.6374,N,-12211.2162,W,1,03,00.5,001.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194844.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194844.99,3642.6378,N,-12211.2162,W,1,03,00.5,002.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194845.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2643.80 Seconds. : The vehicle position is (4063080.7, 572617.2) : LayeredControl _resolvedCommand - vertMode=2 vert=886.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194845.99,3642.6382,N,-12211.2161,W,1,03,00.5,002.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194846.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194846.99,3642.6386,N,-12211.2161,W,1,03,00.5,002.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194847.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194847.99,3642.6390,N,-12211.2162,W,1,03,00.5,002.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194848.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2600.001888 : TerrainNav update at dvl time = 2600.001888 : _navData-> (x,y) = (4063083.18, 572616.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194848.99,3642.6394,N,-12211.2163,W,1,03,00.5,002.0,M,-99.9,M,,*47 : Estimated North Bias at time = 2600.00 : 49.00 : Estimated East Bias at time = 2600.00 : 49.00 : Estimated Depth Bias at time = 2600.00 : 0.00 : Estimated northing and easting = 4063132.18 : 572665.97 : AshtechGps::processRecord() - $GPGGA,194849.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194849.99,3642.6397,N,-12211.2165,W,1,03,00.5,002.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194850.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2648.60 Seconds. : The vehicle position is is (4063084.1, 572616.6) : LayeredControl _resolvedCommand - vertMode=2 vert=885.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194850.99,3642.6401,N,-12211.2167,W,1,03,00.5,002.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194851.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194851.99,3642.6405,N,-12211.2169,W,1,03,00.5,002.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194852.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2651.00 Seconds. : The vehicle position is (4063085.7, 572615.9) : LayeredControl _resolvedCommand - vertMode=2 vert=885.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194852.99,3642.6408,N,-12211.2171,W,1,03,00.5,002.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194853.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194853.99,3642.6411,N,-12211.2174,W,1,03,00.5,002.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194854.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194854.99,3642.6415,N,-12211.2177,W,1,03,00.5,002.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194855.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194855.99,3642.6418,N,-12211.2179,W,1,03,00.5,002.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194856.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194856.99,3642.6421,N,-12211.2182,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194857.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.40 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194857.99,3642.6425,N,-12211.2184,W,1,03,00.5,002.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194858.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.32 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2610.001203 : TerrainNav update at dvl time = 2610.001203 : _navData-> (x,y) = (4063089.47, 572613.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194858.99,3642.6428,N,-12211.2187,W,1,03,00.5,002.2,M,-99.9,M,,*4e : Estimated North Bias at time = 2610.00 : 50.00 : Estimated East Bias at time = 2610.00 : 50.00 : Estimated Depth Bias at time = 2610.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,194859.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063139.47 : 572663.37 : LayeredControl _resolvedCommand - vertMode=2 vert=885.33 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194859.99,3642.6432,N,-12211.2190,W,1,03,00.5,002.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194900.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194900.99,3642.6435,N,-12211.2193,W,1,03,00.5,002.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194901.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.37 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194901.99,3642.6439,N,-12211.2196,W,1,03,00.5,002.1,M,-99.9,M,,*40 : WaypointHoming: The Usbl does NOT detect the transponder at t = 2660.60 Seconds. : The vehicle position is is (4063091.7, 572611.9) : AshtechGps::processRecord() - $GPGGA,194902.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.29 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194902.99,3642.6442,N,-12211.2199,W,1,03,00.5,002.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194903.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2661.80 Seconds. : The vehicle position is (4063092.5, 572611.3) : NMEA Update: $GPGGA,194903.99,3642.6446,N,-12211.2202,W,1,03,00.5,002.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194904.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194904.99,3642.6450,N,-12211.2204,W,1,03,00.5,002.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194905.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2664.00 Seconds. : The vehicle position is is (4063094.1, 572610.5) : LayeredControl _resolvedCommand - vertMode=2 vert=885.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194905.99,3642.6454,N,-12211.2207,W,1,03,00.5,002.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194906.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194906.99,3642.6458,N,-12211.2209,W,1,03,00.5,002.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194907.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2666.40 Seconds. : The vehicle position is (4063096.0, 572609.6) : NMEA Update: $GPGGA,194907.98,3642.6462,N,-12211.2212,W,1,03,00.5,002.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194908.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2620.000518 : TerrainNav update at dvl time = 2620.000518 : _navData-> (x,y) = (4063096.58, 572609.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194908.98,3642.6467,N,-12211.2215,W,1,03,00.5,002.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194909.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2620.00 : 50.00 : Estimated East Bias at time = 2620.00 : 50.00 : Estimated Depth Bias at time = 2620.00 : 0.00 : Estimated northing and easting = 4063146.58 : 572659.20 : LayeredControl _resolvedCommand - vertMode=2 vert=885.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194909.98,3642.6471,N,-12211.2217,W,1,03,00.5,002.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194910.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194910.98,3642.6476,N,-12211.2220,W,1,03,00.5,002.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194911.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194911.98,3642.6480,N,-12211.2222,W,1,03,00.5,002.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194912.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194912.98,3642.6485,N,-12211.2224,W,1,03,00.5,002.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194913.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194913.98,3642.6490,N,-12211.2227,W,1,03,00.5,002.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194914.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194914.98,3642.6494,N,-12211.2229,W,1,03,00.5,002.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194915.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194915.98,3642.6499,N,-12211.2231,W,1,03,00.5,002.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194916.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194916.98,3642.6504,N,-12211.2233,W,1,03,00.5,002.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194917.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194917.98,3642.6509,N,-12211.2235,W,1,03,00.5,002.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=884.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194918.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2629.999833 : TerrainNav update at dvl time = 2629.999833 : _navData-> (x,y) = (4063105.29, 572605.80) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194918.98,3642.6514,N,-12211.2237,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194919.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2630.00 : 50.00 : Estimated East Bias at time = 2630.00 : 50.00 : Estimated Depth Bias at time = 2630.00 : 0.00 : Estimated northing and easting = 4063155.29 : 572655.80 : LayeredControl _resolvedCommand - vertMode=2 vert=884.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194919.98,3642.6519,N,-12211.2238,W,1,03,00.5,002.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194920.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.60 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194920.98,3642.6524,N,-12211.2240,W,1,03,00.5,002.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194921.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194921.98,3642.6529,N,-12211.2241,W,1,03,00.5,002.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194922.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.54 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194922.98,3642.6534,N,-12211.2242,W,1,03,00.5,002.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194923.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.48 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194923.98,3642.6539,N,-12211.2242,W,1,03,00.5,002.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194924.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194924.98,3642.6544,N,-12211.2242,W,1,03,00.5,002.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=884.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194925.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194925.98,3642.6549,N,-12211.2242,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194926.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.36 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194926.98,3642.6554,N,-12211.2241,W,1,03,00.5,002.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194927.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194927.98,3642.6558,N,-12211.2240,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194928.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2639.999148 : TerrainNav update at dvl time = 2639.999148 : _navData-> (x,y) = (4063114.29, 572605.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194928.98,3642.6563,N,-12211.2238,W,1,03,00.5,002.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194929.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 2640.00 : 50.00 : Estimated East Bias at time = 2640.00 : 50.00 : Estimated Depth Bias at time = 2640.00 : 0.00 : Estimated northing and easting = 4063164.29 : 572655.39 : NMEA Update: $GPGGA,194929.98,3642.6567,N,-12211.2237,W,1,03,00.5,002.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194930.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194930.98,3642.6571,N,-12211.2234,W,1,03,00.5,002.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194931.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194931.98,3642.6575,N,-12211.2232,W,1,03,00.5,002.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194932.00,,,,,0,00,,,M,,M,,*4C : LayeredControl _resolvedCommand - vertMode=2 vert=883.83 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194932.98,3642.6579,N,-12211.2229,W,1,03,00.5,002.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194933.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.91 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194933.98,3642.6583,N,-12211.2226,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194934.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194934.98,3642.6586,N,-12211.2223,W,1,03,00.5,002.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194935.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194935.98,3642.6589,N,-12211.2219,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194936.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.69 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194936.98,3642.6592,N,-12211.2216,W,1,03,00.5,002.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194937.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194937.98,3642.6595,N,-12211.2211,W,1,03,00.5,002.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194938.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2649.998463 : TerrainNav update at dvl time = 2649.998463 : _navData-> (x,y) = (4063120.82, 572609.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194938.98,3642.6597,N,-12211.2207,W,1,03,00.5,002.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194939.00,,,,,0,00,,,M,,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=883.49 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2650.00 : 50.00 : Estimated East Bias at time = 2650.00 : 50.00 : Estimated Depth Bias at time = 2650.00 : 0.00 : Estimated northing and easting = 4063170.82 : 572659.91 : NMEA Update: $GPGGA,194939.98,3642.6599,N,-12211.2203,W,1,03,00.5,002.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194940.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.43 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 2699.40 Seconds. : The vehicle position is is (4063121.6, 572611.4) : NMEA Update: $GPGGA,194940.98,3642.6601,N,-12211.2198,W,1,03,00.5,002.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194941.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194941.98,3642.6603,N,-12211.2194,W,1,03,00.5,002.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194942.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194942.98,3642.6604,N,-12211.2189,W,1,03,00.5,002.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194943.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194943.98,3642.6606,N,-12211.2184,W,1,03,00.5,002.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194944.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.37 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194944.98,3642.6607,N,-12211.2179,W,1,03,00.5,002.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194945.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194945.98,3642.6608,N,-12211.2175,W,1,03,00.5,002.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=883.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194946.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194946.98,3642.6609,N,-12211.2169,W,1,03,00.5,002.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194947.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194947.98,3642.6610,N,-12211.2164,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194948.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2659.997778 : TerrainNav update at dvl time = 2659.997778 : _navData-> (x,y) = (4063123.54, 572617.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=883.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194948.98,3642.6611,N,-12211.2159,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194949.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2660.00 : 50.00 : Estimated East Bias at time = 2660.00 : 50.00 : Estimated Depth Bias at time = 2660.00 : 0.00 : Estimated northing and easting = 4063173.54 : 572667.00 : NMEA Update: $GPGGA,194949.98,3642.6613,N,-12211.2154,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194950.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=883.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194950.98,3642.6615,N,-12211.2149,W,1,03,00.5,002.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194951.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194951.98,3642.6616,N,-12211.2144,W,1,03,00.5,002.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194952.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2711.19 Seconds. : The vehicle position is (4063124.8, 572620.0) : NMEA Update: $GPGGA,194952.98,3642.6618,N,-12211.2139,W,1,03,00.5,002.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=883.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,194953.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2712.19 Seconds. : The vehicle position is is (4063125.2, 572620.7) : NMEA Update: $GPGGA,194953.98,3642.6620,N,-12211.2134,W,1,03,00.5,002.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194954.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194954.98,3642.6623,N,-12211.2129,W,1,03,00.5,002.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194955.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194955.98,3642.6625,N,-12211.2125,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194956.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194956.98,3642.6628,N,-12211.2120,W,1,03,00.5,002.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194957.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,194957.98,3642.6630,N,-12211.2115,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194958.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2716.79 Seconds. : The vehicle position is (4063127.3, 572623.9) : LayeredControl _resolvedCommand - vertMode=2 vert=882.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2669.997093 : TerrainNav update at dvl time = 2669.997093 : _navData-> (x,y) = (4063127.53, 572624.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194958.98,3642.6633,N,-12211.2111,W,1,03,00.5,002.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194959.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2670.00 : 50.00 : Estimated East Bias at time = 2670.00 : 50.00 : Estimated Depth Bias at time = 2670.00 : 0.00 : Estimated northing and easting = 4063177.53 : 572674.19 : NMEA Update: $GPGGA,194959.98,3642.6636,N,-12211.2106,W,1,03,00.5,002.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=883.33 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195000.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195000.98,3642.6639,N,-12211.2102,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195001.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195001.98,3642.6643,N,-12211.2098,W,1,03,00.5,002.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195002.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195002.98,3642.6646,N,-12211.2094,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195003.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195003.98,3642.6649,N,-12211.2090,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195004.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195004.98,3642.6653,N,-12211.2086,W,1,03,00.5,002.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195005.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195005.98,3642.6656,N,-12211.2083,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195006.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195006.98,3642.6660,N,-12211.2080,W,1,03,00.5,002.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=882.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195007.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195007.98,3642.6664,N,-12211.2077,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195008.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2679.996408 : TerrainNav update at dvl time = 2679.996408 : _navData-> (x,y) = (4063134.07, 572629.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195008.98,3642.6669,N,-12211.2075,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195009.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2680.00 : 50.00 : Estimated East Bias at time = 2680.00 : 50.00 : Estimated Depth Bias at time = 2680.00 : 0.00 : Estimated northing and easting = 4063184.07 : 572679.56 : LayeredControl _resolvedCommand - vertMode=2 vert=882.49 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195009.98,3642.6673,N,-12211.2073,W,1,03,00.5,002.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195010.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195010.98,3642.6677,N,-12211.2071,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195011.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195011.98,3642.6681,N,-12211.2070,W,1,03,00.5,002.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195012.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.17 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195012.98,3642.6685,N,-12211.2070,W,1,03,00.5,002.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195013.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195013.98,3642.6689,N,-12211.2070,W,1,03,00.5,003.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=882.70 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195014.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195014.98,3642.6693,N,-12211.2071,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195015.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2733.99 Seconds. : The vehicle position is is (4063139.2, 572630.1) : LayeredControl _resolvedCommand - vertMode=2 vert=882.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195015.98,3642.6697,N,-12211.2072,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195016.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2735.19 Seconds. : The vehicle position is (4063140.0, 572629.9) : LayeredControl _resolvedCommand - vertMode=2 vert=882.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195016.98,3642.6700,N,-12211.2073,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195017.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2736.19 Seconds. : The vehicle position is is (4063140.6, 572629.7) : NMEA Update: $GPGGA,195017.98,3642.6704,N,-12211.2074,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195018.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2689.995723 : TerrainNav update at dvl time = 2689.995723 : _navData-> (x,y) = (4063141.20, 572629.40) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195018.98,3642.6707,N,-12211.2076,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195019.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2690.00 : 50.00 : Estimated East Bias at time = 2690.00 : 50.00 : Estimated Depth Bias at time = 2690.00 : 0.00 : Estimated northing and easting = 4063191.20 : 572679.40 : LayeredControl _resolvedCommand - vertMode=2 vert=881.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195019.98,3642.6710,N,-12211.2078,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195020.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195020.98,3642.6713,N,-12211.2081,W,1,03,00.5,003.2,M,-99.9,M,,*44 : WaypointHoming: The Usbl has aquired the transponder at t = 2739.59 Seconds. : The vehicle position is (4063142.6, 572628.6) : LayeredControl _resolvedCommand - vertMode=2 vert=881.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195021.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195021.98,3642.6717,N,-12211.2083,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195022.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.79 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195022.98,3642.6720,N,-12211.2086,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195023.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195023.98,3642.6723,N,-12211.2088,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195024.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195024.98,3642.6727,N,-12211.2091,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195025.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195025.98,3642.6730,N,-12211.2094,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195026.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2745.19 Seconds. : The vehicle position is is (4063146.1, 572626.3) : LayeredControl _resolvedCommand - vertMode=2 vert=881.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195026.98,3642.6734,N,-12211.2097,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195027.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195027.98,3642.6737,N,-12211.2099,W,1,03,00.5,003.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=881.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195028.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2699.995038 : TerrainNav update at dvl time = 2699.995038 : _navData-> (x,y) = (4063147.48, 572625.56) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 2747.39 Seconds. : The vehicle position is (4063147.6, 572625.5) : NMEA Update: $GPGGA,195028.98,3642.6741,N,-12211.2102,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195029.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2700.00 : 50.00 : Estimated East Bias at time = 2700.00 : 50.00 : Estimated Depth Bias at time = 2700.00 : 0.00 : Estimated northing and easting = 4063197.48 : 572675.56 : LayeredControl _resolvedCommand - vertMode=2 vert=881.64 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195029.98,3642.6745,N,-12211.2105,W,1,03,00.5,003.1,M,-99.9,M,,*40 : WaypointHoming: The Usbl does NOT detect the transponder at t = 2748.59 Seconds. : The vehicle position is is (4063148.5, 572625.0) : AshtechGps::processRecord() - $GPGGA,195030.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195030.98,3642.6749,N,-12211.2107,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195031.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195031.99,3642.6753,N,-12211.2109,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195032.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195032.99,3642.6757,N,-12211.2112,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195033.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195033.99,3642.6761,N,-12211.2114,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195034.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195034.99,3642.6765,N,-12211.2117,W,1,03,00.5,003.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=881.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195035.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2753.99 Seconds. : The vehicle position is (4063152.5, 572623.0) : NMEA Update: $GPGGA,195035.99,3642.6770,N,-12211.2119,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195036.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195036.99,3642.6774,N,-12211.2122,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195037.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195037.99,3642.6779,N,-12211.2124,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195038.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2709.994353 : TerrainNav update at dvl time = 2709.994353 : _navData-> (x,y) = (4063155.17, 572621.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195038.99,3642.6783,N,-12211.2127,W,1,03,00.5,003.0,M,-99.9,M,,*4a : Estimated North Bias at time = 2709.99 : 50.00 : AshtechGps::processRecord() - $GPGGA,195039.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 2709.99 : 50.00 : Estimated Depth Bias at time = 2709.99 : 0.00 : Estimated northing and easting = 4063205.17 : 572671.79 : LayeredControl _resolvedCommand - vertMode=2 vert=881.44 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195039.99,3642.6788,N,-12211.2129,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195040.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.34 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195040.99,3642.6792,N,-12211.2131,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195041.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195041.99,3642.6797,N,-12211.2133,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195042.00,,,,,0,00,,,M,,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=881.36 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195042.99,3642.6801,N,-12211.2135,W,1,03,00.5,002.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195043.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195043.99,3642.6806,N,-12211.2137,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195044.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195044.99,3642.6811,N,-12211.2139,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195045.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195045.99,3642.6816,N,-12211.2140,W,1,03,00.5,002.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195046.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195046.99,3642.6820,N,-12211.2141,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195047.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.06 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195047.99,3642.6824,N,-12211.2141,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195048.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2719.993668 : TerrainNav update at dvl time = 2719.993668 : _navData-> (x,y) = (4063163.58, 572619.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195048.99,3642.6829,N,-12211.2141,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195049.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 2719.99 : 50.00 : Estimated East Bias at time = 2719.99 : 50.00 : Estimated Depth Bias at time = 2719.99 : 0.00 : Estimated northing and easting = 4063213.58 : 572669.53 : NMEA Update: $GPGGA,195049.99,3642.6833,N,-12211.2141,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195050.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.90 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195050.99,3642.6838,N,-12211.2141,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195051.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195051.99,3642.6843,N,-12211.2140,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195052.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195052.99,3642.6847,N,-12211.2139,W,1,03,00.5,002.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195053.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195053.99,3642.6852,N,-12211.2138,W,1,03,00.5,002.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195054.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.74 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195054.99,3642.6856,N,-12211.2136,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195055.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195055.99,3642.6860,N,-12211.2134,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195056.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195056.99,3642.6864,N,-12211.2132,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195057.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195057.99,3642.6868,N,-12211.2129,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195058.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2730.002982 : TerrainNav update at dvl time = 2730.002982 : _navData-> (x,y) = (4063171.60, 572621.56) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=880.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195058.99,3642.6872,N,-12211.2126,W,1,03,00.5,002.8,M,-99.9,M,,*45 : Estimated North Bias at time = 2730.00 : 50.00 : Estimated East Bias at time = 2730.00 : 50.00 : Estimated Depth Bias at time = 2730.00 : 0.00 : Estimated northing and easting = 4063221.60 : 572671.56 : AshtechGps::processRecord() - $GPGGA,195059.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195059.99,3642.6875,N,-12211.2123,W,1,03,00.5,002.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195100.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195100.99,3642.6878,N,-12211.2120,W,1,03,00.5,002.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195101.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.41 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195101.99,3642.6881,N,-12211.2116,W,1,03,00.5,002.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195102.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195102.99,3642.6883,N,-12211.2112,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195103.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195103.99,3642.6886,N,-12211.2108,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195104.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2782.60 Seconds. : The vehicle position is is (4063174.4, 572624.5) : LayeredControl _resolvedCommand - vertMode=2 vert=880.40 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195104.99,3642.6888,N,-12211.2104,W,1,03,00.5,002.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195105.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2783.80 Seconds. : The vehicle position is (4063174.9, 572625.2) : LayeredControl _resolvedCommand - vertMode=2 vert=880.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195105.99,3642.6890,N,-12211.2099,W,1,03,00.5,002.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195106.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195106.99,3642.6892,N,-12211.2095,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195107.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 2786.00 Seconds. : The vehicle position is is (4063175.9, 572626.6) : NMEA Update: $GPGGA,195107.99,3642.6895,N,-12211.2091,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195108.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2740.002297 : TerrainNav update at dvl time = 2740.002297 : _navData-> (x,y) = (4063176.38, 572627.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195108.99,3642.6897,N,-12211.2087,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195109.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2740.00 : 50.00 : Estimated East Bias at time = 2740.00 : 50.00 : Estimated Depth Bias at time = 2740.00 : 0.00 : Estimated northing and easting = 4063226.38 : 572677.39 : NMEA Update: $GPGGA,195109.99,3642.6900,N,-12211.2083,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195110.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 2789.20 Seconds. : The vehicle position is (4063177.3, 572628.6) : NMEA Update: $GPGGA,195110.99,3642.6902,N,-12211.2078,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195111.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.06 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195111.99,3642.6905,N,-12211.2074,W,1,03,00.5,002.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195112.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2791.20 Seconds. : The vehicle position is is (4063178.4, 572629.9) : LayeredControl _resolvedCommand - vertMode=2 vert=879.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195112.99,3642.6908,N,-12211.2070,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195113.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 2792.40 Seconds. : The vehicle position is (4063179.1, 572630.6) : NMEA Update: $GPGGA,195113.99,3642.6911,N,-12211.2066,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195114.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195114.99,3642.6914,N,-12211.2062,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195115.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.69 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195115.99,3642.6917,N,-12211.2058,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195116.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195116.99,3642.6920,N,-12211.2054,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195117.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.88 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195117.99,3642.6924,N,-12211.2051,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195118.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2750.001612 : TerrainNav update at dvl time = 2750.001612 : _navData-> (x,y) = (4063182.02, 572633.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195118.99,3642.6928,N,-12211.2048,W,1,03,00.5,002.9,M,-99.9,M,,*46 : Estimated North Bias at time = 2750.00 : 50.00 : Estimated East Bias at time = 2750.00 : 50.00 : Estimated Depth Bias at time = 2750.00 : 0.00 : Estimated northing and easting = 4063232.02 : 572683.10 : AshtechGps::processRecord() - $GPGGA,195119.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195119.99,3642.6931,N,-12211.2046,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195120.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195120.99,3642.6935,N,-12211.2044,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195121.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195121.99,3642.6939,N,-12211.2042,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195122.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195122.99,3642.6944,N,-12211.2040,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195123.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195123.99,3642.6948,N,-12211.2039,W,1,03,00.5,002.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195124.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195124.99,3642.6952,N,-12211.2038,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195125.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.44 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195125.99,3642.6956,N,-12211.2038,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195126.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195126.99,3642.6961,N,-12211.2039,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195127.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195127.99,3642.6965,N,-12211.2039,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195128.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.35 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2760.000927 : TerrainNav update at dvl time = 2760.000927 : _navData-> (x,y) = (4063189.63, 572634.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195128.99,3642.6969,N,-12211.2040,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195129.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2760.00 : 50.00 : Estimated East Bias at time = 2760.00 : 50.00 : Estimated Depth Bias at time = 2760.00 : 0.00 : Estimated northing and easting = 4063239.63 : 572684.39 : LayeredControl _resolvedCommand - vertMode=2 vert=879.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195129.99,3642.6973,N,-12211.2041,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195130.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195130.99,3642.6977,N,-12211.2042,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195131.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195131.99,3642.6981,N,-12211.2043,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195132.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195132.99,3642.6985,N,-12211.2044,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195133.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.43 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195133.98,3642.6990,N,-12211.2045,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195134.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195134.98,3642.6994,N,-12211.2046,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195135.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195135.98,3642.6998,N,-12211.2047,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195136.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195136.98,3642.7003,N,-12211.2048,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195137.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195137.98,3642.7007,N,-12211.2048,W,1,03,00.5,003.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=879.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195138.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2770.000242 : TerrainNav update at dvl time = 2770.000242 : _navData-> (x,y) = (4063197.58, 572633.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195138.98,3642.7012,N,-12211.2049,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195139.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2770.00 : 50.00 : Estimated East Bias at time = 2770.00 : 50.00 : Estimated Depth Bias at time = 2770.00 : 0.00 : Estimated northing and easting = 4063247.58 : 572683.00 : LayeredControl _resolvedCommand - vertMode=2 vert=878.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195139.98,3642.7017,N,-12211.2049,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195140.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.82 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195140.98,3642.7020,N,-12211.2049,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195141.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195141.98,3642.7024,N,-12211.2048,W,1,03,00.5,002.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195142.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195142.98,3642.7029,N,-12211.2048,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195143.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195143.98,3642.7033,N,-12211.2047,W,1,03,00.5,002.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195144.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195144.98,3642.7038,N,-12211.2046,W,1,03,00.5,002.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195145.00,,,,,0,00,,,M,,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=878.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195145.98,3642.7042,N,-12211.2044,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195146.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195146.98,3642.7046,N,-12211.2043,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195147.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195147.98,3642.7051,N,-12211.2040,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195148.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2779.999557 : TerrainNav update at dvl time = 2779.999557 : _navData-> (x,y) = (4063205.51, 572634.40) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195148.98,3642.7055,N,-12211.2038,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195149.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2780.00 : 50.00 : Estimated East Bias at time = 2780.00 : 50.00 : Estimated Depth Bias at time = 2780.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=878.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated northing and easting = 4063255.51 : 572684.40 : NMEA Update: $GPGGA,195149.98,3642.7058,N,-12211.2035,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195150.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195150.98,3642.7062,N,-12211.2032,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195151.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195151.98,3642.7065,N,-12211.2029,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195152.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195152.98,3642.7069,N,-12211.2025,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195153.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195153.98,3642.7072,N,-12211.2022,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195154.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.33 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195154.98,3642.7076,N,-12211.2018,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195155.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195155.98,3642.7079,N,-12211.2017,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195156.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195156.98,3642.7083,N,-12211.2014,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195157.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195157.98,3642.7086,N,-12211.2010,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195158.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2789.998872 : TerrainNav update at dvl time = 2789.998872 : _navData-> (x,y) = (4063212.11, 572638.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195158.98,3642.7090,N,-12211.2007,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195159.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 2790.00 : 50.00 : Estimated East Bias at time = 2790.00 : 50.00 : Estimated Depth Bias at time = 2790.00 : 0.00 : Estimated northing and easting = 4063262.11 : 572688.95 : NMEA Update: $GPGGA,195159.98,3642.7094,N,-12211.2004,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195200.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195200.98,3642.7098,N,-12211.2002,W,1,03,00.5,002.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195201.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195201.98,3642.7102,N,-12211.1999,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195202.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195202.98,3642.7106,N,-12211.1997,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195203.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195203.98,3642.7111,N,-12211.1995,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195204.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195204.98,3642.7115,N,-12211.1993,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195205.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195205.98,3642.7119,N,-12211.1991,W,1,03,00.5,002.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=877.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195206.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195206.98,3642.7124,N,-12211.1990,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195207.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195207.98,3642.7129,N,-12211.1988,W,1,03,00.5,002.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195208.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2799.998187 : TerrainNav update at dvl time = 2799.998187 : _navData-> (x,y) = (4063220.13, 572641.96) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=877.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195208.98,3642.7133,N,-12211.1987,W,1,03,00.5,002.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195209.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2800.00 : 50.00 : Estimated East Bias at time = 2800.00 : 50.00 : Estimated Depth Bias at time = 2800.00 : 0.00 : Estimated northing and easting = 4063270.13 : 572691.96 : NMEA Update: $GPGGA,195209.98,3642.7138,N,-12211.1985,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195210.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195210.98,3642.7143,N,-12211.1984,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195211.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195211.98,3642.7148,N,-12211.1983,W,1,03,00.5,002.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195212.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195212.98,3642.7152,N,-12211.1982,W,1,03,00.5,002.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=877.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195213.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195213.98,3642.7156,N,-12211.1981,W,1,03,00.5,002.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195214.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195214.98,3642.7161,N,-12211.1980,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195215.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195215.98,3642.7166,N,-12211.1979,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195216.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195216.98,3642.7171,N,-12211.1978,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195217.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195217.98,3642.7174,N,-12211.1976,W,1,03,00.5,002.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195218.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2809.997502 : TerrainNav update at dvl time = 2809.997502 : _navData-> (x,y) = (4063228.41, 572643.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195218.98,3642.7178,N,-12211.1975,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195219.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2810.00 : 50.00 : Estimated East Bias at time = 2810.00 : 50.00 : Estimated Depth Bias at time = 2810.00 : 0.00 : Estimated northing and easting = 4063278.41 : 572693.69 : NMEA Update: $GPGGA,195219.98,3642.7182,N,-12211.1973,W,1,03,00.5,002.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=877.32 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195220.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195220.98,3642.7187,N,-12211.1972,W,1,03,00.5,002.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195221.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195221.98,3642.7192,N,-12211.1970,W,1,03,00.5,002.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195222.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195222.98,3642.7196,N,-12211.1968,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195223.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195223.98,3642.7201,N,-12211.1966,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195224.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195224.98,3642.7206,N,-12211.1964,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195225.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.05 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195225.98,3642.7210,N,-12211.1962,W,1,03,00.5,002.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195226.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195226.98,3642.7215,N,-12211.1960,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195227.00,,,,,0,00,,,M,,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=877.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195227.98,3642.7220,N,-12211.1958,W,1,03,00.5,002.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195228.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2819.996817 : TerrainNav update at dvl time = 2819.996817 : _navData-> (x,y) = (4063237.08, 572646.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195228.98,3642.7225,N,-12211.1956,W,1,03,00.5,002.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195229.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2820.00 : 50.00 : Estimated East Bias at time = 2820.00 : 50.00 : Estimated Depth Bias at time = 2820.00 : 0.00 : Estimated northing and easting = 4063287.08 : 572696.41 : LayeredControl _resolvedCommand - vertMode=2 vert=876.88 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195229.98,3642.7230,N,-12211.1954,W,1,03,00.5,002.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195230.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195230.98,3642.7235,N,-12211.1951,W,1,03,00.5,002.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195231.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195231.98,3642.7240,N,-12211.1950,W,1,03,00.5,002.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195232.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195232.98,3642.7244,N,-12211.1948,W,1,03,00.5,002.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195233.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195233.98,3642.7249,N,-12211.1946,W,1,03,00.5,002.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=876.70 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195234.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195234.98,3642.7254,N,-12211.1944,W,1,03,00.5,002.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195235.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195235.98,3642.7259,N,-12211.1943,W,1,03,00.5,002.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195236.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195236.98,3642.7264,N,-12211.1941,W,1,03,00.5,002.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195237.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195237.98,3642.7269,N,-12211.1939,W,1,03,00.5,002.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195238.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming has set the state to finished. : WaypointHoming (4063275.7, 572653.9), reached at t = 2877.19 (wplog) : Vehicle Position error is (29.5, 4.8) : The distance to the waypoint is 29.9. : LayeredControl::execute() -- (t = 2877.192899) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 2877.19. : LayeredControl::execute() -- (t = 2877.202898) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 2877.20 (wplog) The current location (N,E) = 4063246.2 , 572649.1 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 194.3 Degrees. : LayeredControl::execute() -- (t = 2877.202898) Behavior waypoint_homing:-1 has changed to state Active : TerrainNav update at nav time = 2829.996132 : TerrainNav update at dvl time = 2829.996132 : _navData-> (x,y) = (4063246.15, 572649.08) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195238.98,3642.7274,N,-12211.1937,W,1,03,00.5,002.5,M,-99.9,M,,*4b : CameraDriver::readData - starting a 40 photo sequence. : AshtechGps::processRecord() - $GPGGA,195239.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2830.00 : 49.00 : Estimated East Bias at time = 2830.00 : 49.00 : Estimated Depth Bias at time = 2830.00 : 0.00 : Estimated northing and easting = 4063295.15 : 572698.08 : LayeredControl _resolvedCommand - vertMode=2 vert=876.51 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195240.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.43 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195241.18,3642.7285,N,-12211.1934,W,1,03,00.5,002.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195241.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195242.18,3642.7290,N,-12211.1933,W,1,03,00.5,002.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195242.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.79 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195243.18,3642.7295,N,-12211.1932,W,1,03,00.5,002.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195243.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.29 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195244.18,3642.7300,N,-12211.1932,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195244.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195245.18,3642.7305,N,-12211.1932,W,1,03,00.5,002.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195245.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.27 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195246.18,3642.7310,N,-12211.1933,W,1,03,00.5,002.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195246.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.27 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195247.18,3642.7314,N,-12211.1934,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195247.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.20 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195248.18,3642.7319,N,-12211.1935,W,1,03,00.5,002.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195248.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2839.995447 : TerrainNav update at dvl time = 2839.995447 : _navData-> (x,y) = (4063255.08, 572649.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195249.18,3642.7323,N,-12211.1937,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195249.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2840.00 : 49.00 : Estimated East Bias at time = 2840.00 : 49.00 : Estimated Depth Bias at time = 2840.00 : 0.00 : Estimated northing and easting = 4063304.08 : 572698.27 : LayeredControl _resolvedCommand - vertMode=2 vert=876.14 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195250.18,3642.7326,N,-12211.1939,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195250.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.40 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195251.18,3642.7330,N,-12211.1942,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195251.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195252.18,3642.7333,N,-12211.1945,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195252.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.11 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195253.18,3642.7336,N,-12211.1949,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195253.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.11 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195254.18,3642.7338,N,-12211.1952,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195254.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.03 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195255.18,3642.7341,N,-12211.1956,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195255.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195256.18,3642.7342,N,-12211.1960,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195256.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 2894.8 with dtw = 97.75 : LayeredControl _resolvedCommand - vertMode=2 vert=876.00 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195257.18,3642.7343,N,-12211.1965,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195257.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.91 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195257.99,3642.7344,N,-12211.1968,W,1,03,00.5,003.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195258.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2849.994762 : TerrainNav update at dvl time = 2849.994762 : _navData-> (x,y) = (4063259.39, 572643.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195258.99,3642.7345,N,-12211.1972,W,1,03,00.5,003.4,M,-99.9,M,,*4e : Estimated North Bias at time = 2849.99 : 49.00 : Estimated East Bias at time = 2849.99 : 49.00 : Estimated Depth Bias at time = 2849.99 : 0.00 : Estimated northing and easting = 4063308.39 : 572692.96 : AshtechGps::processRecord() - $GPGGA,195259.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.83 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195259.99,3642.7345,N,-12211.1976,W,1,03,00.5,003.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195300.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.88 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195300.99,3642.7345,N,-12211.1981,W,1,03,00.5,003.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195301.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195301.99,3642.7345,N,-12211.1985,W,1,03,00.5,003.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=875.83 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195302.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195302.99,3642.7345,N,-12211.1989,W,1,03,00.5,003.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195303.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.95 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195303.99,3642.7344,N,-12211.1993,W,1,03,00.5,003.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195304.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.90 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195304.99,3642.7343,N,-12211.1997,W,1,03,00.5,003.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195305.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195305.99,3642.7341,N,-12211.2001,W,1,03,00.5,003.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195306.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.04 horzlMode=3 horz=3.39 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 2905.20 Seconds. : The vehicle position is (4063258.5, 572639.2) : WaypointHoming:: Beacon has exited the Usbl Fov at t = 2905.4 with dtw = -8.63 : WaypointHoming: The Usbl does NOT detect the transponder at t = 2905.40 Seconds. : NMEA Update: $GPGGA,195306.99,3642.7340,N,-12211.2004,W,1,03,00.5,003.7,M,-99.9,M,,*49 : The vehicle position is is (4063258.4, 572639.1) : AshtechGps::processRecord() - $GPGGA,195307.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195307.99,3642.7338,N,-12211.2008,W,1,03,00.5,003.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195308.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2859.994077 : TerrainNav update at dvl time = 2859.994077 : _navData-> (x,y) = (4063257.70, 572638.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195308.99,3642.7335,N,-12211.2011,W,1,03,00.5,003.8,M,-99.9,M,,*4e : Estimated North Bias at time = 2859.99 : 49.00 : Estimated East Bias at time = 2859.99 : 49.00 : Estimated Depth Bias at time = 2859.99 : 0.00 : Estimated northing and easting = 4063306.70 : 572687.19 : AshtechGps::processRecord() - $GPGGA,195309.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195309.99,3642.7333,N,-12211.2013,W,1,03,00.5,003.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195310.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=876.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195310.99,3642.7331,N,-12211.2016,W,1,03,00.5,004.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195311.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195311.99,3642.7328,N,-12211.2018,W,1,03,00.5,004.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195312.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195312.99,3642.7325,N,-12211.2020,W,1,03,00.5,004.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195313.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195313.99,3642.7322,N,-12211.2021,W,1,03,00.5,004.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195314.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.12 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195314.99,3642.7319,N,-12211.2022,W,1,03,00.5,004.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195315.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195315.99,3642.7316,N,-12211.2023,W,1,03,00.5,004.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195316.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.17 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195316.99,3642.7313,N,-12211.2023,W,1,03,00.5,004.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195317.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195317.99,3642.7309,N,-12211.2023,W,1,03,00.5,004.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195318.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2869.993392 : TerrainNav update at dvl time = 2869.993392 : _navData-> (x,y) = (4063252.32, 572636.41) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=876.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195318.99,3642.7306,N,-12211.2022,W,1,03,00.5,004.6,M,-99.9,M,,*46 : Estimated North Bias at time = 2869.99 : 49.00 : Estimated East Bias at time = 2869.99 : 49.00 : Estimated Depth Bias at time = 2869.99 : 0.00 : Estimated northing and easting = 4063301.32 : 572685.41 : AshtechGps::processRecord() - $GPGGA,195319.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195319.99,3642.7303,N,-12211.2021,W,1,03,00.5,004.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195320.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195320.99,3642.7300,N,-12211.2020,W,1,03,00.5,004.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195321.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195321.99,3642.7298,N,-12211.2018,W,1,03,00.5,004.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195322.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195322.99,3642.7295,N,-12211.2016,W,1,03,00.5,004.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195323.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195323.99,3642.7293,N,-12211.2014,W,1,03,00.5,004.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195324.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195324.99,3642.7290,N,-12211.2011,W,1,03,00.5,004.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195325.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.17 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195325.99,3642.7288,N,-12211.2009,W,1,03,00.5,004.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195326.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195326.99,3642.7287,N,-12211.2006,W,1,03,00.5,004.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195327.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195327.99,3642.7285,N,-12211.2002,W,1,03,00.5,004.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195328.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2880.002706 : TerrainNav update at dvl time = 2880.002706 : _navData-> (x,y) = (4063248.18, 572639.90) : _tercom->outstandingMeas() = 0 : WaypointHoming:: Beacon is in the Usbl Fov at t = 2927.4 with dtw = 1.39 : NMEA Update: $GPGGA,195328.99,3642.7284,N,-12211.1999,W,1,03,00.5,004.8,M,-99.9,M,,*4a : Estimated North Bias at time = 2880.00 : 49.00 : Estimated East Bias at time = 2880.00 : 49.00 : Estimated Depth Bias at time = 2880.00 : 0.00 : Estimated northing and easting = 4063297.18 : 572688.90 : AshtechGps::processRecord() - $GPGGA,195329.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195329.99,3642.7283,N,-12211.1995,W,1,03,00.5,004.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195330.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195330.99,3642.7283,N,-12211.1991,W,1,03,00.5,004.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195331.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195331.99,3642.7283,N,-12211.1987,W,1,03,00.5,004.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195332.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195332.99,3642.7283,N,-12211.1983,W,1,03,00.5,004.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195333.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195333.99,3642.7283,N,-12211.1979,W,1,03,00.5,004.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195334.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 2933.00 Seconds. : The vehicle position is (4063248.1, 572643.2) : NMEA Update: $GPGGA,195334.99,3642.7284,N,-12211.1976,W,1,03,00.5,004.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195335.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195335.99,3642.7285,N,-12211.1972,W,1,03,00.5,004.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195336.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195336.99,3642.7287,N,-12211.1969,W,1,03,00.5,004.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195337.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195337.99,3642.7288,N,-12211.1966,W,1,03,00.5,004.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195338.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2890.002021 : TerrainNav update at dvl time = 2890.002021 : _navData-> (x,y) = (4063249.29, 572645.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195338.99,3642.7290,N,-12211.1963,W,1,03,00.5,004.9,M,-99.9,M,,*4a : Estimated North Bias at time = 2890.00 : 49.00 : Estimated East Bias at time = 2890.00 : 49.00 : Estimated Depth Bias at time = 2890.00 : 0.00 : Estimated northing and easting = 4063298.29 : 572694.27 : AshtechGps::processRecord() - $GPGGA,195339.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195339.99,3642.7293,N,-12211.1960,W,1,03,00.5,004.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195340.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195340.99,3642.7295,N,-12211.1957,W,1,03,00.5,004.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195341.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195341.99,3642.7298,N,-12211.1955,W,1,03,00.5,004.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195342.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195342.99,3642.7300,N,-12211.1954,W,1,03,00.5,004.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195343.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195343.99,3642.7303,N,-12211.1952,W,1,03,00.5,004.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195344.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195344.99,3642.7306,N,-12211.1951,W,1,03,00.5,004.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195345.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195345.99,3642.7309,N,-12211.1950,W,1,03,00.5,004.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195346.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195346.99,3642.7312,N,-12211.1949,W,1,03,00.5,004.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195347.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195347.99,3642.7315,N,-12211.1948,W,1,03,00.5,004.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195348.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2900.001336 : TerrainNav update at dvl time = 2900.001336 : _navData-> (x,y) = (4063254.43, 572647.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195348.99,3642.7318,N,-12211.1948,W,1,03,00.5,004.7,M,-99.9,M,,*4b : Estimated North Bias at time = 2900.00 : 49.00 : Estimated East Bias at time = 2900.00 : 49.00 : Estimated Depth Bias at time = 2900.00 : 0.00 : Estimated northing and easting = 4063303.43 : 572696.54 : AshtechGps::processRecord() - $GPGGA,195349.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195349.99,3642.7322,N,-12211.1947,W,1,03,00.5,004.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195350.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195350.99,3642.7325,N,-12211.1947,W,1,03,00.5,004.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195351.00,,,,,0,00,,,M,,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=875.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195351.99,3642.7329,N,-12211.1947,W,1,03,00.5,004.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195352.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195352.99,3642.7333,N,-12211.1947,W,1,03,00.5,004.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195353.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195353.99,3642.7337,N,-12211.1946,W,1,03,00.5,004.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195354.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195354.99,3642.7341,N,-12211.1946,W,1,03,00.5,004.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195355.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195355.99,3642.7345,N,-12211.1946,W,1,03,00.5,004.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195356.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195356.99,3642.7349,N,-12211.1946,W,1,03,00.5,004.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195357.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195357.99,3642.7353,N,-12211.1946,W,1,03,00.5,004.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195358.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 2910.000651 : TerrainNav update at dvl time = 2910.000651 : _navData-> (x,y) = (4063261.53, 572647.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195358.99,3642.7357,N,-12211.1945,W,1,03,00.5,004.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195359.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2910.00 : 49.00 : Estimated East Bias at time = 2910.00 : 49.00 : Estimated Depth Bias at time = 2910.00 : 0.00 : Estimated northing and easting = 4063310.53 : 572696.83 : LayeredControl _resolvedCommand - vertMode=2 vert=875.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195359.98,3642.7361,N,-12211.1945,W,1,03,00.5,004.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195400.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195400.98,3642.7366,N,-12211.1944,W,1,03,00.5,003.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195401.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195401.98,3642.7370,N,-12211.1943,W,1,03,00.5,003.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195402.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.64 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195402.98,3642.7374,N,-12211.1942,W,1,03,00.5,003.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195403.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.05 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195403.98,3642.7379,N,-12211.1941,W,1,03,00.5,003.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195404.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195404.98,3642.7383,N,-12211.1940,W,1,03,00.5,003.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195405.00,,,,,0,00,,,M,,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=875.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195405.98,3642.7387,N,-12211.1939,W,1,03,00.5,003.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195406.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195406.98,3642.7392,N,-12211.1937,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195407.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195407.98,3642.7396,N,-12211.1936,W,1,03,00.5,003.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195408.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2919.999966 : TerrainNav update at dvl time = 2919.999966 : _navData-> (x,y) = (4063269.59, 572649.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195408.98,3642.7401,N,-12211.1934,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195409.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2920.00 : 49.00 : Estimated East Bias at time = 2920.00 : 49.00 : Estimated Depth Bias at time = 2920.00 : 0.00 : Estimated northing and easting = 4063318.59 : 572698.38 : LayeredControl _resolvedCommand - vertMode=2 vert=875.48 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195409.98,3642.7405,N,-12211.1932,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195410.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195410.98,3642.7410,N,-12211.1930,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195411.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195411.98,3642.7414,N,-12211.1929,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195412.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.58 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195412.98,3642.7418,N,-12211.1927,W,1,03,00.5,002.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195413.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.54 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195413.98,3642.7423,N,-12211.1925,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195414.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.39 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195414.98,3642.7427,N,-12211.1923,W,1,03,00.5,002.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195415.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 2974.40 Seconds. : The vehicle position is is (4063275.5, 572651.3) : NMEA Update: $GPGGA,195415.98,3642.7432,N,-12211.1921,W,1,03,00.5,002.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195416.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.36 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195416.98,3642.7436,N,-12211.1919,W,1,03,00.5,002.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195417.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195417.98,3642.7441,N,-12211.1918,W,1,03,00.5,002.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195418.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2929.999281 : TerrainNav update at dvl time = 2929.999281 : _navData-> (x,y) = (4063277.93, 572652.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195418.98,3642.7446,N,-12211.1916,W,1,03,00.5,002.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=875.24 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195419.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2930.00 : 49.00 : Estimated East Bias at time = 2930.00 : 49.00 : Estimated Depth Bias at time = 2930.00 : 0.00 : Estimated northing and easting = 4063326.93 : 572701.03 : NMEA Update: $GPGGA,195419.98,3642.7450,N,-12211.1914,W,1,03,00.5,002.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195420.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.18 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195420.98,3642.7455,N,-12211.1912,W,1,03,00.5,002.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195421.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195421.98,3642.7460,N,-12211.1910,W,1,03,00.5,002.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195422.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195422.98,3642.7465,N,-12211.1908,W,1,03,00.5,001.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195423.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195423.98,3642.7470,N,-12211.1906,W,1,03,00.5,001.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195424.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195424.98,3642.7474,N,-12211.1904,W,1,03,00.5,001.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195425.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195425.98,3642.7479,N,-12211.1903,W,1,03,00.5,001.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=875.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195426.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195426.98,3642.7484,N,-12211.1901,W,1,03,00.5,001.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195427.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195427.98,3642.7489,N,-12211.1898,W,1,03,00.5,001.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195428.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2939.998596 : TerrainNav update at dvl time = 2939.998596 : _navData-> (x,y) = (4063286.84, 572654.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=875.41 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195428.98,3642.7494,N,-12211.1897,W,1,03,00.5,001.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195429.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2940.00 : 50.00 : Estimated East Bias at time = 2940.00 : 50.00 : Estimated Depth Bias at time = 2940.00 : 0.00 : Estimated northing and easting = 4063336.84 : 572704.82 : NMEA Update: $GPGGA,195429.98,3642.7498,N,-12211.1895,W,1,03,00.5,001.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195430.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.37 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195430.98,3642.7503,N,-12211.1893,W,1,03,00.5,001.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195431.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195431.98,3642.7508,N,-12211.1892,W,1,03,00.5,001.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195432.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.459129. Allowable altitude = 1.500000. t= 2991.20. Stopping! : DepthEnvelope -- Measured altitude = 1.459129. Allowable altitude = 1.500000. t= 2991.40. Stopping! : NMEA Update: $GPGGA,195432.98,3642.7513,N,-12211.1890,W,1,03,00.5,001.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195433.00,,,,,0,00,,,M,,M,,*41 : DepthEnvelope -- Measured altitude = 1.459129. Allowable altitude = 1.500000. t= 2991.60. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.416550. Allowable altitude = 1.500000. t= 2991.80. Stopping! : DepthEnvelope -- Measured altitude = 1.416550. Allowable altitude = 1.500000. t= 2992.00. Stopping! : DepthEnvelope -- Measured altitude = 1.416550. Allowable altitude = 1.500000. t= 2992.20. Stopping! : DepthEnvelope -- Measured altitude = 1.419607. Allowable altitude = 1.500000. t= 2992.40. Stopping! : NMEA Update: $GPGGA,195433.98,3642.7518,N,-12211.1889,W,1,03,00.5,001.4,M,-99.9,M,,*4d : DepthEnvelope -- Measured altitude = 1.419607. Allowable altitude = 1.500000. t= 2992.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195434.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.419607. Allowable altitude = 1.500000. t= 2992.79. Stopping! : DepthEnvelope -- Measured altitude = 1.416932. Allowable altitude = 1.500000. t= 2992.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.416932. Allowable altitude = 1.500000. t= 2993.19. Stopping! : DepthEnvelope -- Measured altitude = 1.416932. Allowable altitude = 1.500000. t= 2993.39. Stopping! : NMEA Update: $GPGGA,195434.98,3642.7521,N,-12211.1887,W,1,03,00.5,001.4,M,-99.9,M,,*4e : DepthEnvelope -- Measured altitude = 1.412718. Allowable altitude = 1.500000. t= 2993.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195435.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.412718. Allowable altitude = 1.500000. t= 2993.79. Stopping! : DepthEnvelope -- Measured altitude = 1.412718. Allowable altitude = 1.500000. t= 2993.99. Stopping! : DepthEnvelope -- Measured altitude = 1.372065. Allowable altitude = 1.500000. t= 2994.19. Stopping! : DepthEnvelope -- Measured altitude = 1.372065. Allowable altitude = 1.500000. t= 2994.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195435.98,3642.7524,N,-12211.1886,W,1,03,00.5,001.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195436.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.372065. Allowable altitude = 1.500000. t= 2994.59. Stopping! : DepthEnvelope -- Measured altitude = 1.365846. Allowable altitude = 1.500000. t= 2994.79. Stopping! : DepthEnvelope -- Measured altitude = 1.365846. Allowable altitude = 1.500000. t= 2994.99. Stopping! : DepthEnvelope -- Measured altitude = 1.365846. Allowable altitude = 1.500000. t= 2995.19. Stopping! : DepthEnvelope -- Measured altitude = 1.345018. Allowable altitude = 1.500000. t= 2995.39. Stopping! : NMEA Update: $GPGGA,195436.98,3642.7527,N,-12211.1885,W,1,03,00.5,001.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195437.00,,,,,0,00,,,M,,M,,*45 : DepthEnvelope -- Measured altitude = 1.345018. Allowable altitude = 1.500000. t= 2995.59. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.345018. Allowable altitude = 1.500000. t= 2995.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.347619. Allowable altitude = 1.500000. t= 2995.99. Stopping! : DepthEnvelope -- Measured altitude = 1.347619. Allowable altitude = 1.500000. t= 2996.19. Stopping! : DepthEnvelope -- Measured altitude = 1.347619. Allowable altitude = 1.500000. t= 2996.39. Stopping! : NMEA Update: $GPGGA,195437.98,3642.7530,N,-12211.1885,W,1,03,00.5,001.3,M,-99.9,M,,*48 : DepthEnvelope -- Measured altitude = 1.304273. Allowable altitude = 1.500000. t= 2996.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195438.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.304273. Allowable altitude = 1.500000. t= 2996.79. Stopping! : DepthEnvelope -- Measured altitude = 1.304273. Allowable altitude = 1.500000. t= 2996.99. Stopping! : DepthEnvelope -- Measured altitude = 1.290979. Allowable altitude = 1.500000. t= 2997.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2949.997911 : TerrainNav update at dvl time = 2949.997911 : _navData-> (x,y) = (4063293.97, 572656.60) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 1.290979. Allowable altitude = 1.500000. t= 2997.39. Stopping! : NMEA Update: $GPGGA,195438.98,3642.7532,N,-12211.1884,W,1,03,00.5,001.3,M,-99.9,M,,*44 : DepthEnvelope -- Measured altitude = 1.290979. Allowable altitude = 1.500000. t= 2997.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195439.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2950.00 : 50.00 : Estimated East Bias at time = 2950.00 : 50.00 : Estimated Depth Bias at time = 2950.00 : 0.00 : Estimated northing and easting = 4063343.97 : 572706.60 : DepthEnvelope -- Measured altitude = 1.280746. Allowable altitude = 1.500000. t= 2997.79. Stopping! : DepthEnvelope -- Measured altitude = 1.280746. Allowable altitude = 1.500000. t= 2997.99. Stopping! : DepthEnvelope -- Measured altitude = 1.280746. Allowable altitude = 1.500000. t= 2998.19. Stopping! : DepthEnvelope -- Measured altitude = 1.253664. Allowable altitude = 1.500000. t= 2998.39. Stopping! : NMEA Update: $GPGGA,195439.98,3642.7534,N,-12211.1884,W,1,03,00.5,001.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195440.00,,,,,0,00,,,M,,M,,*45 : DepthEnvelope -- Measured altitude = 1.253664. Allowable altitude = 1.500000. t= 2998.59. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.253664. Allowable altitude = 1.500000. t= 2998.79. Stopping! : DepthEnvelope -- Measured altitude = 1.199813. Allowable altitude = 1.500000. t= 2998.99. Stopping! : DepthEnvelope -- Measured altitude = 1.199813. Allowable altitude = 1.500000. t= 2999.19. Stopping! : DepthEnvelope -- Measured altitude = 1.199813. Allowable altitude = 1.500000. t= 2999.39. Stopping! : NMEA Update: $GPGGA,195440.98,3642.7537,N,-12211.1882,W,1,03,00.5,001.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195441.00,,,,,0,00,,,M,,M,,*44 : DepthEnvelope -- Measured altitude = 1.152435. Allowable altitude = 1.500000. t= 2999.59. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.152435. Allowable altitude = 1.500000. t= 2999.79. Stopping! : DepthEnvelope -- Measured altitude = 1.152435. Allowable altitude = 1.500000. t= 2999.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.160748. Allowable altitude = 1.500000. t= 3000.19. Stopping! : DepthEnvelope -- Measured altitude = 1.160748. Allowable altitude = 1.500000. t= 3000.39. Stopping! : NMEA Update: $GPGGA,195441.98,3642.7541,N,-12211.1881,W,1,03,00.5,001.2,M,-99.9,M,,*4a : DepthEnvelope -- Measured altitude = 1.160748. Allowable altitude = 1.500000. t= 3000.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195442.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.138366. Allowable altitude = 1.500000. t= 3000.79. Stopping! : DepthEnvelope -- Measured altitude = 1.138366. Allowable altitude = 1.500000. t= 3000.99. Stopping! : DepthEnvelope -- Measured altitude = 1.138366. Allowable altitude = 1.500000. t= 3001.19. Stopping! : DepthEnvelope -- Measured altitude = 1.092950. Allowable altitude = 1.500000. t= 3001.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195442.98,3642.7542,N,-12211.1881,W,1,03,00.5,001.1,M,-99.9,M,,*49 : DepthEnvelope -- Measured altitude = 1.092950. Allowable altitude = 1.500000. t= 3001.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195443.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.092950. Allowable altitude = 1.500000. t= 3001.79. Stopping! : DepthEnvelope -- Measured altitude = 1.020547. Allowable altitude = 1.500000. t= 3001.99. Stopping! : DepthEnvelope -- Measured altitude = 1.020547. Allowable altitude = 1.500000. t= 3002.19. Stopping! : DepthEnvelope -- Measured altitude = 1.020547. Allowable altitude = 1.500000. t= 3002.39. Stopping! : NMEA Update: $GPGGA,195443.98,3642.7544,N,-12211.1881,W,1,03,00.5,001.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195444.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.022044. Allowable altitude = 1.500000. t= 3002.59. Stopping! : DepthEnvelope -- Measured altitude = 1.022044. Allowable altitude = 1.500000. t= 3002.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.022044. Allowable altitude = 1.500000. t= 3002.99. Stopping! : NMEA Update: $GPGGA,195444.98,3642.7545,N,-12211.1880,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,195445.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.894526. Allowable altitude = 1.500000. t= 3003.79. Stopping! : DepthEnvelope -- Measured altitude = 0.894526. Allowable altitude = 1.500000. t= 3003.99. Stopping! : DepthEnvelope -- Measured altitude = 0.894526. Allowable altitude = 1.500000. t= 3004.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.895474. Allowable altitude = 1.500000. t= 3004.39. Stopping! : NMEA Update: $GPGGA,195445.98,3642.7548,N,-12211.1880,W,1,03,00.5,000.9,M,-99.9,M,,*4c : DepthEnvelope -- Measured altitude = 0.895474. Allowable altitude = 1.500000. t= 3004.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195446.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.895474. Allowable altitude = 1.500000. t= 3004.79. Stopping! : DepthEnvelope -- Measured altitude = 0.896156. Allowable altitude = 1.500000. t= 3004.99. Stopping! : DepthEnvelope -- Measured altitude = 0.896156. Allowable altitude = 1.500000. t= 3005.19. Stopping! : DepthEnvelope -- Measured altitude = 0.896156. Allowable altitude = 1.500000. t= 3005.39. Stopping! : NMEA Update: $GPGGA,195446.98,3642.7548,N,-12211.1879,W,1,03,00.5,000.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195447.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195447.98,3642.7550,N,-12211.1879,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,195448.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2959.997226 : TerrainNav update at dvl time = 2959.997226 : _navData-> (x,y) = (4063297.61, 572657.45) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2960.00 : 50.00 : Estimated East Bias at time = 2960.00 : 50.00 : Estimated Depth Bias at time = 2960.00 : 0.00 : Estimated northing and easting = 4063347.61 : 572707.45 : NMEA Update: $GPGGA,195448.98,3642.7551,N,-12211.1878,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,195449.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.801088. Allowable altitude = 1.500000. t= 3007.99. Stopping! : DepthEnvelope -- Measured altitude = 0.801088. Allowable altitude = 1.500000. t= 3008.19. Stopping! : DepthEnvelope -- Measured altitude = 0.801088. Allowable altitude = 1.500000. t= 3008.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195449.98,3642.7552,N,-12211.1877,W,1,03,00.5,000.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195450.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195450.98,3642.7552,N,-12211.1877,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,195451.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.788356. Allowable altitude = 1.500000. t= 3010.39. Stopping! : NMEA Update: $GPGGA,195451.98,3642.7553,N,-12211.1877,W,1,03,00.5,000.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195452.00,,,,,0,00,,,M,,M,,*46 : DepthEnvelope -- Measured altitude = 0.788356. Allowable altitude = 1.500000. t= 3010.59. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.788356. Allowable altitude = 1.500000. t= 3010.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195452.98,3642.7553,N,-12211.1877,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : DepthEnvelope -- Measured altitude = 0.774286. Allowable altitude = 1.500000. t= 3011.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195453.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.774286. Allowable altitude = 1.500000. t= 3011.79. Stopping! : DepthEnvelope -- Measured altitude = 0.774286. Allowable altitude = 1.500000. t= 3011.99. Stopping! : DepthEnvelope -- Measured altitude = 0.728786. Allowable altitude = 1.500000. t= 3012.19. Stopping! : DepthEnvelope -- Measured altitude = 0.728786. Allowable altitude = 1.500000. t= 3012.39. Stopping! : NMEA Update: $GPGGA,195453.98,3642.7556,N,-12211.1877,W,1,03,00.5,000.7,M,-99.9,M,,*42 : DepthEnvelope -- Measured altitude = 0.728786. Allowable altitude = 1.500000. t= 3012.59. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195454.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.730719. Allowable altitude = 1.500000. t= 3012.79. Stopping! : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DepthEnvelope -- Measured altitude = 0.730719. Allowable altitude = 1.500000. t= 3012.99. Stopping! : DepthEnvelope -- Measured altitude = 0.730719. Allowable altitude = 1.500000. t= 3013.19. Stopping! : DepthEnvelope -- Measured altitude = 0.712156. Allowable altitude = 1.500000. t= 3013.39. Stopping! : NMEA Update: $GPGGA,195454.98,3642.7557,N,-12211.1876,W,1,03,00.5,000.7,M,-99.9,M,,*45 : DepthEnvelope -- Measured altitude = 0.712156. Allowable altitude = 1.500000. t= 3013.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195455.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.712156. Allowable altitude = 1.500000. t= 3013.79. Stopping! : DepthEnvelope -- Measured altitude = 0.678623. Allowable altitude = 1.500000. t= 3013.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.678623. Allowable altitude = 1.500000. t= 3014.19. Stopping! : DepthEnvelope -- Measured altitude = 0.678623. Allowable altitude = 1.500000. t= 3014.39. Stopping! : NMEA Update: $GPGGA,195455.98,3642.7557,N,-12211.1876,W,1,03,00.5,000.7,M,-99.9,M,,*44 : DepthEnvelope -- Measured altitude = 0.678159. Allowable altitude = 1.500000. t= 3014.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195456.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.678159. Allowable altitude = 1.500000. t= 3014.79. Stopping! : DepthEnvelope -- Measured altitude = 0.678159. Allowable altitude = 1.500000. t= 3014.99. Stopping! : DepthEnvelope -- Measured altitude = 0.780784. Allowable altitude = 1.500000. t= 3015.19. Stopping! : DepthEnvelope -- Measured altitude = 0.780784. Allowable altitude = 1.500000. t= 3015.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195456.98,3642.7557,N,-12211.1876,W,1,03,00.5,000.8,M,-99.9,M,,*48 : DepthEnvelope -- Measured altitude = 0.780784. Allowable altitude = 1.500000. t= 3015.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195457.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.669822. Allowable altitude = 1.500000. t= 3015.79. Stopping! : DepthEnvelope -- Measured altitude = 0.669822. Allowable altitude = 1.500000. t= 3015.99. Stopping! : DepthEnvelope -- Measured altitude = 0.669822. Allowable altitude = 1.500000. t= 3016.19. Stopping! : DepthEnvelope -- Measured altitude = 0.669310. Allowable altitude = 1.500000. t= 3016.39. Stopping! : NMEA Update: $GPGGA,195457.98,3642.7557,N,-12211.1876,W,1,03,00.5,000.7,M,-99.9,M,,*46 : DepthEnvelope -- Measured altitude = 0.669310. Allowable altitude = 1.500000. t= 3016.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195458.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.669310. Allowable altitude = 1.500000. t= 3016.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2969.996541 : TerrainNav update at dvl time = 2969.996541 : _navData-> (x,y) = (4063298.82, 572657.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195458.98,3642.7557,N,-12211.1876,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : Estimated North Bias at time = 2970.00 : 49.00 : Estimated East Bias at time = 2970.00 : 49.00 : Estimated Depth Bias at time = 2970.00 : 0.00 : Estimated northing and easting = 4063347.82 : 572706.81 : AshtechGps::processRecord() - $GPGGA,195459.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.815953. Allowable altitude = 1.500000. t= 3018.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.815953. Allowable altitude = 1.500000. t= 3018.39. Stopping! : NMEA Update: $GPGGA,195459.98,3642.7558,N,-12211.1876,W,1,03,00.5,000.8,M,-99.9,M,,*48 : DepthEnvelope -- Measured altitude = 0.815953. Allowable altitude = 1.500000. t= 3018.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195500.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.840126. Allowable altitude = 1.500000. t= 3018.79. Stopping! : DepthEnvelope -- Measured altitude = 0.840126. Allowable altitude = 1.500000. t= 3018.99. Stopping! : DepthEnvelope -- Measured altitude = 0.840126. Allowable altitude = 1.500000. t= 3019.19. Stopping! : DepthEnvelope -- Measured altitude = 0.809810. Allowable altitude = 1.500000. t= 3019.39. Stopping! : NMEA Update: $GPGGA,195500.98,3642.7559,N,-12211.1875,W,1,03,00.5,000.8,M,-99.9,M,,*47 : DepthEnvelope -- Measured altitude = 0.809810. Allowable altitude = 1.500000. t= 3019.59. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195501.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.809810. Allowable altitude = 1.500000. t= 3019.79. Stopping! : DepthEnvelope -- Measured altitude = 0.938396. Allowable altitude = 1.500000. t= 3019.99. Stopping! : DepthEnvelope -- Measured altitude = 0.938396. Allowable altitude = 1.500000. t= 3020.19. Stopping! : DepthEnvelope -- Measured altitude = 0.938396. Allowable altitude = 1.500000. t= 3020.39. Stopping! : NMEA Update: $GPGGA,195501.98,3642.7559,N,-12211.1875,W,1,03,00.5,000.9,M,-99.9,M,,*47 : DepthEnvelope -- Measured altitude = 0.940258. Allowable altitude = 1.500000. t= 3020.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195502.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.940258. Allowable altitude = 1.500000. t= 3020.79. Stopping! : DepthEnvelope -- Measured altitude = 0.940258. Allowable altitude = 1.500000. t= 3020.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.941990. Allowable altitude = 1.500000. t= 3021.19. Stopping! : DepthEnvelope -- Measured altitude = 0.941990. Allowable altitude = 1.500000. t= 3021.39. Stopping! : NMEA Update: $GPGGA,195502.98,3642.7559,N,-12211.1875,W,1,03,00.5,000.9,M,-99.9,M,,*44 : DepthEnvelope -- Measured altitude = 0.941990. Allowable altitude = 1.500000. t= 3021.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195503.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.029326. Allowable altitude = 1.500000. t= 3021.79. Stopping! : DepthEnvelope -- Measured altitude = 1.029326. Allowable altitude = 1.500000. t= 3021.99. Stopping! : DepthEnvelope -- Measured altitude = 1.029326. Allowable altitude = 1.500000. t= 3022.19. Stopping! : DepthEnvelope -- Measured altitude = 0.957556. Allowable altitude = 1.500000. t= 3022.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195503.98,3642.7561,N,-12211.1875,W,1,03,00.5,001.0,M,-99.9,M,,*46 : DepthEnvelope -- Measured altitude = 0.957556. Allowable altitude = 1.500000. t= 3022.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195504.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.957556. Allowable altitude = 1.500000. t= 3022.79. Stopping! : DepthEnvelope -- Measured altitude = 1.012982. Allowable altitude = 1.500000. t= 3022.99. Stopping! : DepthEnvelope -- Measured altitude = 1.012982. Allowable altitude = 1.500000. t= 3023.19. Stopping! : DepthEnvelope -- Measured altitude = 1.012982. Allowable altitude = 1.500000. t= 3023.39. Stopping! : NMEA Update: $GPGGA,195504.98,3642.7562,N,-12211.1875,W,1,03,00.5,001.0,M,-99.9,M,,*42 : DepthEnvelope -- Measured altitude = 1.015694. Allowable altitude = 1.500000. t= 3023.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195505.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.015694. Allowable altitude = 1.500000. t= 3023.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.015694. Allowable altitude = 1.500000. t= 3023.99. Stopping! : DepthEnvelope -- Measured altitude = 1.047180. Allowable altitude = 1.500000. t= 3024.19. Stopping! : DepthEnvelope -- Measured altitude = 1.047180. Allowable altitude = 1.500000. t= 3024.39. Stopping! : NMEA Update: $GPGGA,195505.98,3642.7563,N,-12211.1875,W,1,03,00.5,001.0,M,-99.9,M,,*42 : DepthEnvelope -- Measured altitude = 1.047180. Allowable altitude = 1.500000. t= 3024.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195506.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.119164. Allowable altitude = 1.500000. t= 3024.79. Stopping! : DepthEnvelope -- Measured altitude = 1.119164. Allowable altitude = 1.500000. t= 3024.99. Stopping! : DepthEnvelope -- Measured altitude = 1.119164. Allowable altitude = 1.500000. t= 3025.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.151834. Allowable altitude = 1.500000. t= 3025.39. Stopping! : NMEA Update: $GPGGA,195506.98,3642.7563,N,-12211.1874,W,1,03,00.5,001.2,M,-99.9,M,,*42 : DepthEnvelope -- Measured altitude = 1.151834. Allowable altitude = 1.500000. t= 3025.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195507.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.151834. Allowable altitude = 1.500000. t= 3025.79. Stopping! : DepthEnvelope -- Measured altitude = 1.198192. Allowable altitude = 1.500000. t= 3025.99. Stopping! : DepthEnvelope -- Measured altitude = 1.198192. Allowable altitude = 1.500000. t= 3026.19. Stopping! : DepthEnvelope -- Measured altitude = 1.198192. Allowable altitude = 1.500000. t= 3026.39. Stopping! : NMEA Update: $GPGGA,195507.98,3642.7564,N,-12211.1874,W,1,03,00.5,001.2,M,-99.9,M,,*44 : DepthEnvelope -- Measured altitude = 1.253744. Allowable altitude = 1.500000. t= 3026.59. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195508.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.253744. Allowable altitude = 1.500000. t= 3026.79. Stopping! : DepthEnvelope -- Measured altitude = 1.253744. Allowable altitude = 1.500000. t= 3026.99. Stopping! : DepthEnvelope -- Measured altitude = 1.256001. Allowable altitude = 1.500000. t= 3027.19. Stopping! : TerrainNav update at nav time = 2979.995856 : TerrainNav update at dvl time = 2979.995856 : _navData-> (x,y) = (4063300.47, 572658.11) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2980.00 : 49.00 : Estimated East Bias at time = 2980.00 : 49.00 : Estimated Depth Bias at time = 2980.00 : 0.00 : Estimated northing and easting = 4063349.47 : 572707.11 : DepthEnvelope -- Measured altitude = 1.256001. Allowable altitude = 1.500000. t= 3027.39. Stopping! : NMEA Update: $GPGGA,195508.98,3642.7567,N,-12211.1874,W,1,03,00.5,001.3,M,-99.9,M,,*49 : DepthEnvelope -- Measured altitude = 1.256001. Allowable altitude = 1.500000. t= 3027.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195509.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.298113. Allowable altitude = 1.500000. t= 3027.79. Stopping! : DepthEnvelope -- Measured altitude = 1.298113. Allowable altitude = 1.500000. t= 3027.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.298113. Allowable altitude = 1.500000. t= 3028.19. Stopping! : DepthEnvelope -- Measured altitude = 1.377394. Allowable altitude = 1.500000. t= 3028.39. Stopping! : NMEA Update: $GPGGA,195509.98,3642.7568,N,-12211.1874,W,1,03,00.5,001.4,M,-99.9,M,,*40 : DepthEnvelope -- Measured altitude = 1.377394. Allowable altitude = 1.500000. t= 3028.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195510.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.377394. Allowable altitude = 1.500000. t= 3028.79. Stopping! : DepthEnvelope -- Measured altitude = 1.400712. Allowable altitude = 1.500000. t= 3028.99. Stopping! : DepthEnvelope -- Measured altitude = 1.400712. Allowable altitude = 1.500000. t= 3029.19. Stopping! : DepthEnvelope -- Measured altitude = 1.400712. Allowable altitude = 1.500000. t= 3029.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195510.98,3642.7569,N,-12211.1874,W,1,03,00.5,001.4,M,-99.9,M,,*49 : DepthEnvelope -- Measured altitude = 1.451877. Allowable altitude = 1.500000. t= 3029.59. Stopping! : AshtechGps::processRecord() - $GPGGA,195511.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.451877. Allowable altitude = 1.500000. t= 3029.79. Stopping! : DepthEnvelope -- Measured altitude = 1.451877. Allowable altitude = 1.500000. t= 3029.99. Stopping! : NMEA Update: $GPGGA,195511.98,3642.7571,N,-12211.1873,W,1,03,00.5,001.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195512.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195512.98,3642.7572,N,-12211.1873,W,1,03,00.5,001.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195513.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195513.98,3642.7574,N,-12211.1872,W,1,03,00.5,001.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195514.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195514.98,3642.7575,N,-12211.1872,W,1,03,00.5,001.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195515.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195515.98,3642.7576,N,-12211.1871,W,1,03,00.5,001.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195516.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195516.98,3642.7577,N,-12211.1871,W,1,03,00.5,001.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195517.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195517.98,3642.7579,N,-12211.1870,W,1,03,00.5,002.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195518.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2989.995171 : TerrainNav update at dvl time = 2989.995171 : _navData-> (x,y) = (4063302.93, 572658.66) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2990.00 : 49.00 : Estimated East Bias at time = 2990.00 : 49.00 : Estimated Depth Bias at time = 2990.00 : 0.00 : Estimated northing and easting = 4063351.93 : 572707.66 : NMEA Update: $GPGGA,195518.98,3642.7580,N,-12211.1870,W,1,03,00.5,002.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195519.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195519.98,3642.7581,N,-12211.1870,W,1,03,00.5,002.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195520.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195520.98,3642.7582,N,-12211.1869,W,1,03,00.5,002.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195521.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195521.98,3642.7583,N,-12211.1869,W,1,03,00.5,002.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195522.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195522.98,3642.7584,N,-12211.1868,W,1,03,00.5,002.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195523.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195523.99,3642.7585,N,-12211.1868,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195524.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195524.99,3642.7586,N,-12211.1868,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195525.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195525.99,3642.7587,N,-12211.1867,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195526.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Depth 873.139869 shallower than restart depth 874.916017 and altitude 3.047481 greater than min altitude 1.500000 at t= 3045.19. Starting prop! : NMEA Update: $GPGGA,195526.99,3642.7588,N,-12211.1867,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195527.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.24 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195527.99,3642.7589,N,-12211.1867,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195528.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2999.994486 : TerrainNav update at dvl time = 2999.994486 : _navData-> (x,y) = (4063304.79, 572659.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195528.99,3642.7590,N,-12211.1866,W,1,03,00.5,003.3,M,-99.9,M,,*43 : Estimated North Bias at time = 2999.99 : 49.00 : Estimated East Bias at time = 2999.99 : 49.00 : Estimated Depth Bias at time = 2999.99 : 0.00 : Estimated northing and easting = 4063353.79 : 572708.20 : LayeredControl _resolvedCommand - vertMode=2 vert=873.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195529.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195529.99,3642.7591,N,-12211.1866,W,1,03,00.5,003.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195530.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195530.99,3642.7592,N,-12211.1866,W,1,03,00.5,003.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195531.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195531.99,3642.7594,N,-12211.1865,W,1,03,00.5,003.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195532.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195532.99,3642.7595,N,-12211.1865,W,1,03,00.5,003.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195533.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195533.99,3642.7597,N,-12211.1865,W,1,03,00.5,003.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195534.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195534.99,3642.7599,N,-12211.1864,W,1,03,00.5,003.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195535.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195535.99,3642.7602,N,-12211.1864,W,1,03,00.5,003.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195536.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195536.99,3642.7605,N,-12211.1863,W,1,03,00.5,003.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195537.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.05 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195537.99,3642.7607,N,-12211.1863,W,1,03,00.5,004.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195538.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 3009.993801 : TerrainNav update at dvl time = 3009.993801 : _navData-> (x,y) = (4063308.51, 572659.78) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3009.99 : 49.00 : Estimated East Bias at time = 3009.99 : 49.00 : Estimated Depth Bias at time = 3009.99 : 0.00 : Estimated northing and easting = 4063357.51 : 572708.78 : LayeredControl _resolvedCommand - vertMode=2 vert=873.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195538.99,3642.7610,N,-12211.1862,W,1,03,00.5,004.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195539.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195539.99,3642.7613,N,-12211.1862,W,1,03,00.5,004.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195540.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.88 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195540.99,3642.7617,N,-12211.1861,W,1,03,00.5,004.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195541.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195541.99,3642.7620,N,-12211.1861,W,1,03,00.5,004.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195542.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195542.99,3642.7624,N,-12211.1861,W,1,03,00.5,004.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195543.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.82 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195543.99,3642.7627,N,-12211.1860,W,1,03,00.5,004.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195544.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.64 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195544.99,3642.7631,N,-12211.1860,W,1,03,00.5,004.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195545.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195545.99,3642.7635,N,-12211.1859,W,1,03,00.5,003.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195546.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195546.99,3642.7639,N,-12211.1859,W,1,03,00.5,003.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195547.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=872.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195547.99,3642.7643,N,-12211.1858,W,1,03,00.5,003.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195548.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3020.003116 : TerrainNav update at dvl time = 3020.003116 : _navData-> (x,y) = (4063315.24, 572660.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195548.99,3642.7647,N,-12211.1857,W,1,03,00.5,003.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195549.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3020.00 : 49.00 : Estimated East Bias at time = 3020.00 : 49.00 : Estimated Depth Bias at time = 3020.00 : 0.00 : Estimated northing and easting = 4063364.24 : 572709.44 : NMEA Update: $GPGGA,195549.99,3642.7651,N,-12211.1857,W,1,03,00.5,003.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195550.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195550.99,3642.7655,N,-12211.1856,W,1,03,00.5,003.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195551.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195551.99,3642.7659,N,-12211.1855,W,1,03,00.5,003.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195552.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195552.99,3642.7663,N,-12211.1855,W,1,03,00.5,003.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195553.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195553.99,3642.7668,N,-12211.1854,W,1,03,00.5,003.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195554.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195554.99,3642.7672,N,-12211.1853,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195555.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195555.99,3642.7677,N,-12211.1852,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195556.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195556.99,3642.7681,N,-12211.1851,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195557.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195557.99,3642.7686,N,-12211.1851,W,1,03,00.5,002.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195558.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3030.002431 : TerrainNav update at dvl time = 3030.002431 : _navData-> (x,y) = (4063323.08, 572661.32) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195558.99,3642.7689,N,-12211.1852,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195559.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3030.00 : 49.00 : Estimated East Bias at time = 3030.00 : 49.00 : Estimated Depth Bias at time = 3030.00 : 0.00 : Estimated northing and easting = 4063372.08 : 572710.32 : LayeredControl _resolvedCommand - vertMode=2 vert=872.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195559.99,3642.7694,N,-12211.1851,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195600.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195600.99,3642.7698,N,-12211.1850,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195601.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195601.99,3642.7703,N,-12211.1849,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195602.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.39 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195602.99,3642.7708,N,-12211.1848,W,1,03,00.5,002.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195603.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195603.99,3642.7713,N,-12211.1847,W,1,03,00.5,002.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195604.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195604.99,3642.7717,N,-12211.1847,W,1,03,00.5,002.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195605.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195605.99,3642.7722,N,-12211.1845,W,1,03,00.5,002.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195606.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195606.99,3642.7726,N,-12211.1844,W,1,03,00.5,002.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195607.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195607.99,3642.7731,N,-12211.1843,W,1,03,00.5,002.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195608.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3040.001746 : TerrainNav update at dvl time = 3040.001746 : _navData-> (x,y) = (4063331.64, 572662.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195608.99,3642.7736,N,-12211.1843,W,1,03,00.5,002.0,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,195609.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3040.00 : 49.00 : Estimated East Bias at time = 3040.00 : 49.00 : Estimated Depth Bias at time = 3040.00 : 0.00 : Estimated northing and easting = 4063380.64 : 572711.51 : LayeredControl _resolvedCommand - vertMode=2 vert=872.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195609.99,3642.7741,N,-12211.1842,W,1,03,00.5,001.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195610.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195610.99,3642.7745,N,-12211.1840,W,1,03,00.5,001.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195611.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195611.99,3642.7750,N,-12211.1839,W,1,03,00.5,001.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195612.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.24 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195612.99,3642.7754,N,-12211.1838,W,1,03,00.5,001.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195613.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195613.99,3642.7759,N,-12211.1837,W,1,03,00.5,001.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195614.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195614.99,3642.7765,N,-12211.1836,W,1,03,00.5,001.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195615.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195615.99,3642.7770,N,-12211.1835,W,1,03,00.5,001.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195616.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195616.99,3642.7775,N,-12211.1834,W,1,03,00.5,001.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195617.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195617.99,3642.7779,N,-12211.1833,W,1,03,00.5,001.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195618.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3050.001061 : TerrainNav update at dvl time = 3050.001061 : _navData-> (x,y) = (4063340.67, 572663.97) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 1.482163. Allowable altitude = 1.500000. t= 3097.40. Stopping! : NMEA Update: $GPGGA,195618.99,3642.7784,N,-12211.1832,W,1,03,00.5,001.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195619.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.482163. Allowable altitude = 1.500000. t= 3097.60. Stopping! : DepthEnvelope -- Measured altitude = 1.482163. Allowable altitude = 1.500000. t= 3097.80. Stopping! : Estimated North Bias at time = 3050.00 : 50.00 : Estimated East Bias at time = 3050.00 : 50.00 : Estimated Depth Bias at time = 3050.00 : 0.00 : Estimated northing and easting = 4063390.67 : 572713.97 : DepthEnvelope -- Measured altitude = 1.482673. Allowable altitude = 1.500000. t= 3098.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.482673. Allowable altitude = 1.500000. t= 3098.20. Stopping! : DepthEnvelope -- Measured altitude = 1.482673. Allowable altitude = 1.500000. t= 3098.40. Stopping! : NMEA Update: $GPGGA,195619.99,3642.7789,N,-12211.1831,W,1,03,00.5,001.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195620.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.457338. Allowable altitude = 1.500000. t= 3098.60. Stopping! : DepthEnvelope -- Measured altitude = 1.457338. Allowable altitude = 1.500000. t= 3098.80. Stopping! : DepthEnvelope -- Measured altitude = 1.457338. Allowable altitude = 1.500000. t= 3099.00. Stopping! : DepthEnvelope -- Measured altitude = 1.361434. Allowable altitude = 1.500000. t= 3099.20. Stopping! : DepthEnvelope -- Measured altitude = 1.361434. Allowable altitude = 1.500000. t= 3099.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195620.99,3642.7793,N,-12211.1830,W,1,03,00.5,001.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195621.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.361434. Allowable altitude = 1.500000. t= 3099.60. Stopping! : DepthEnvelope -- Measured altitude = 1.335062. Allowable altitude = 1.500000. t= 3099.80. Stopping! : DepthEnvelope -- Measured altitude = 1.335062. Allowable altitude = 1.500000. t= 3100.00. Stopping! : DepthEnvelope -- Measured altitude = 1.335062. Allowable altitude = 1.500000. t= 3100.20. Stopping! : DepthEnvelope -- Measured altitude = 1.334538. Allowable altitude = 1.500000. t= 3100.40. Stopping! : NMEA Update: $GPGGA,195621.99,3642.7798,N,-12211.1829,W,1,03,00.5,001.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195622.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.334538. Allowable altitude = 1.500000. t= 3100.60. Stopping! : DepthEnvelope -- Measured altitude = 1.334538. Allowable altitude = 1.500000. t= 3100.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.333493. Allowable altitude = 1.500000. t= 3101.00. Stopping! : DepthEnvelope -- Measured altitude = 1.333493. Allowable altitude = 1.500000. t= 3101.20. Stopping! : DepthEnvelope -- Measured altitude = 1.333493. Allowable altitude = 1.500000. t= 3101.40. Stopping! : NMEA Update: $GPGGA,195622.99,3642.7802,N,-12211.1827,W,1,03,00.5,001.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195623.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.355453. Allowable altitude = 1.500000. t= 3101.60. Stopping! : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DepthEnvelope -- Measured altitude = 1.355453. Allowable altitude = 1.500000. t= 3101.80. Stopping! : DepthEnvelope -- Measured altitude = 1.355453. Allowable altitude = 1.500000. t= 3102.00. Stopping! : DepthEnvelope -- Measured altitude = 1.298490. Allowable altitude = 1.500000. t= 3102.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.298490. Allowable altitude = 1.500000. t= 3102.40. Stopping! : NMEA Update: $GPGGA,195623.99,3642.7805,N,-12211.1826,W,1,03,00.5,001.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195624.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.298490. Allowable altitude = 1.500000. t= 3102.60. Stopping! : DepthEnvelope -- Measured altitude = 1.288813. Allowable altitude = 1.500000. t= 3102.80. Stopping! : DepthEnvelope -- Measured altitude = 1.288813. Allowable altitude = 1.500000. t= 3103.00. Stopping! : DepthEnvelope -- Measured altitude = 1.288813. Allowable altitude = 1.500000. t= 3103.20. Stopping! : DepthEnvelope -- Measured altitude = 1.277637. Allowable altitude = 1.500000. t= 3103.40. Stopping! : NMEA Update: $GPGGA,195624.99,3642.7809,N,-12211.1825,W,1,03,00.5,001.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195625.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.277637. Allowable altitude = 1.500000. t= 3103.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.277637. Allowable altitude = 1.500000. t= 3103.80. Stopping! : DepthEnvelope -- Measured altitude = 1.217034. Allowable altitude = 1.500000. t= 3104.00. Stopping! : DepthEnvelope -- Measured altitude = 1.217034. Allowable altitude = 1.500000. t= 3104.20. Stopping! : DepthEnvelope -- Measured altitude = 1.217034. Allowable altitude = 1.500000. t= 3104.40. Stopping! : NMEA Update: $GPGGA,195625.98,3642.7811,N,-12211.1824,W,1,03,00.5,001.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195626.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.197244. Allowable altitude = 1.500000. t= 3104.60. Stopping! : DepthEnvelope -- Measured altitude = 1.197244. Allowable altitude = 1.500000. t= 3104.80. Stopping! : DepthEnvelope -- Measured altitude = 1.197244. Allowable altitude = 1.500000. t= 3105.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.153828. Allowable altitude = 1.500000. t= 3105.20. Stopping! : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DepthEnvelope -- Measured altitude = 1.153828. Allowable altitude = 1.500000. t= 3105.40. Stopping! : NMEA Update: $GPGGA,195626.98,3642.7814,N,-12211.1824,W,1,03,00.5,001.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195627.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.153828. Allowable altitude = 1.500000. t= 3105.60. Stopping! : DepthEnvelope -- Measured altitude = 1.141095. Allowable altitude = 1.500000. t= 3105.80. Stopping! : DepthEnvelope -- Measured altitude = 1.141095. Allowable altitude = 1.500000. t= 3106.00. Stopping! : DepthEnvelope -- Measured altitude = 1.141095. Allowable altitude = 1.500000. t= 3106.20. Stopping! : DepthEnvelope -- Measured altitude = 1.115519. Allowable altitude = 1.500000. t= 3106.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195627.98,3642.7815,N,-12211.1823,W,1,03,00.5,001.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195628.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.115519. Allowable altitude = 1.500000. t= 3106.60. Stopping! : DepthEnvelope -- Measured altitude = 1.115519. Allowable altitude = 1.500000. t= 3106.80. Stopping! : DepthEnvelope -- Measured altitude = 1.114429. Allowable altitude = 1.500000. t= 3107.00. Stopping! : DepthEnvelope -- Measured altitude = 1.114429. Allowable altitude = 1.500000. t= 3107.20. Stopping! : TerrainNav update at nav time = 3060.000376 : TerrainNav update at dvl time = 3060.000376 : _navData-> (x,y) = (4063346.75, 572665.35) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 1.114429. Allowable altitude = 1.500000. t= 3107.40. Stopping! : NMEA Update: $GPGGA,195628.98,3642.7817,N,-12211.1823,W,1,03,00.5,001.1,M,-99.9,M,,*42 : Estimated North Bias at time = 3060.00 : 49.00 : Estimated East Bias at time = 3060.00 : 49.00 : Estimated Depth Bias at time = 3060.00 : 0.00 : Estimated northing and easting = 4063395.75 : 572714.35 : AshtechGps::processRecord() - $GPGGA,195629.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.101991. Allowable altitude = 1.500000. t= 3107.60. Stopping! : DepthEnvelope -- Measured altitude = 1.101991. Allowable altitude = 1.500000. t= 3107.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.101991. Allowable altitude = 1.500000. t= 3108.00. Stopping! : DepthEnvelope -- Measured altitude = 1.031037. Allowable altitude = 1.500000. t= 3108.20. Stopping! : DepthEnvelope -- Measured altitude = 1.031037. Allowable altitude = 1.500000. t= 3108.40. Stopping! : NMEA Update: $GPGGA,195629.98,3642.7819,N,-12211.1822,W,1,03,00.5,001.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195630.00,,,,,0,00,,,M,,M,,*40 : DepthEnvelope -- Measured altitude = 1.031037. Allowable altitude = 1.500000. t= 3108.60. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.020450. Allowable altitude = 1.500000. t= 3108.80. Stopping! : DepthEnvelope -- Measured altitude = 1.020450. Allowable altitude = 1.500000. t= 3109.00. Stopping! : DepthEnvelope -- Measured altitude = 1.020450. Allowable altitude = 1.500000. t= 3109.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.937086. Allowable altitude = 1.500000. t= 3109.40. Stopping! : NMEA Update: $GPGGA,195630.98,3642.7821,N,-12211.1821,W,1,03,00.5,000.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195631.00,,,,,0,00,,,M,,M,,*41 : DepthEnvelope -- Measured altitude = 0.937086. Allowable altitude = 1.500000. t= 3109.60. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.937086. Allowable altitude = 1.500000. t= 3109.80. Stopping! : DepthEnvelope -- Measured altitude = 0.893976. Allowable altitude = 1.500000. t= 3110.00. Stopping! : DepthEnvelope -- Measured altitude = 0.893976. Allowable altitude = 1.500000. t= 3110.20. Stopping! : DepthEnvelope -- Measured altitude = 0.893976. Allowable altitude = 1.500000. t= 3110.40. Stopping! : NMEA Update: $GPGGA,195631.98,3642.7822,N,-12211.1821,W,1,03,00.5,000.9,M,-99.9,M,,*47 : DepthEnvelope -- Measured altitude = 0.784139. Allowable altitude = 1.500000. t= 3110.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195632.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.784139. Allowable altitude = 1.500000. t= 3110.80. Stopping! : DepthEnvelope -- Measured altitude = 0.784139. Allowable altitude = 1.500000. t= 3111.00. Stopping! : DepthEnvelope -- Measured altitude = 0.784618. Allowable altitude = 1.500000. t= 3111.20. Stopping! : DepthEnvelope -- Measured altitude = 0.784618. Allowable altitude = 1.500000. t= 3111.40. Stopping! : NMEA Update: $GPGGA,195632.98,3642.7823,N,-12211.1821,W,1,03,00.5,000.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195633.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.784618. Allowable altitude = 1.500000. t= 3111.60. Stopping! : DepthEnvelope -- Measured altitude = 0.785219. Allowable altitude = 1.500000. t= 3111.80. Stopping! : DepthEnvelope -- Measured altitude = 0.785219. Allowable altitude = 1.500000. t= 3112.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.785219. Allowable altitude = 1.500000. t= 3112.20. Stopping! : DepthEnvelope -- Measured altitude = 0.780463. Allowable altitude = 1.500000. t= 3112.40. Stopping! : NMEA Update: $GPGGA,195633.98,3642.7826,N,-12211.1819,W,1,03,00.5,000.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195634.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.780463. Allowable altitude = 1.500000. t= 3112.60. Stopping! : DepthEnvelope -- Measured altitude = 0.780463. Allowable altitude = 1.500000. t= 3112.80. Stopping! : DepthEnvelope -- Measured altitude = 0.779068. Allowable altitude = 1.500000. t= 3113.00. Stopping! : DepthEnvelope -- Measured altitude = 0.779068. Allowable altitude = 1.500000. t= 3113.20. Stopping! : DepthEnvelope -- Measured altitude = 0.779068. Allowable altitude = 1.500000. t= 3113.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195634.98,3642.7827,N,-12211.1819,W,1,03,00.5,000.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195635.00,,,,,0,00,,,M,,M,,*45 : DepthEnvelope -- Measured altitude = 0.778049. Allowable altitude = 1.500000. t= 3113.60. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.778049. Allowable altitude = 1.500000. t= 3113.80. Stopping! : DepthEnvelope -- Measured altitude = 0.778049. Allowable altitude = 1.500000. t= 3114.00. Stopping! : NMEA Update: $GPGGA,195635.98,3642.7828,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,195636.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.674950. Allowable altitude = 1.500000. t= 3115.40. Stopping! : NMEA Update: $GPGGA,195636.98,3642.7828,N,-12211.1818,W,1,03,00.5,000.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195637.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.674950. Allowable altitude = 1.500000. t= 3115.60. Stopping! : DepthEnvelope -- Measured altitude = 0.674950. Allowable altitude = 1.500000. t= 3115.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195637.98,3642.7828,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,195638.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.690346. Allowable altitude = 1.500000. t= 3116.60. Stopping! : DepthEnvelope -- Measured altitude = 0.690346. Allowable altitude = 1.500000. t= 3116.80. Stopping! : DepthEnvelope -- Measured altitude = 0.690346. Allowable altitude = 1.500000. t= 3117.00. Stopping! : TerrainNav update at nav time = 3069.999691 : TerrainNav update at dvl time = 3069.999691 : _navData-> (x,y) = (4063348.96, 572665.96) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3070.00 : 49.00 : Estimated East Bias at time = 3070.00 : 49.00 : Estimated Depth Bias at time = 3070.00 : 0.00 : Estimated northing and easting = 4063397.96 : 572714.96 : NMEA Update: $GPGGA,195638.98,3642.7828,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,195639.00,,,,,0,00,,,M,,M,,*49 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195639.98,3642.7828,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,195640.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195640.98,3642.7830,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,195641.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195641.98,3642.7831,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,195642.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195642.98,3642.7833,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,195643.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195643.98,3642.7834,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,195644.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195644.98,3642.7835,N,-12211.1818,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,195645.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195645.98,3642.7837,N,-12211.1817,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,195646.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195646.98,3642.7838,N,-12211.1817,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,195647.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195647.98,3642.7839,N,-12211.1817,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,195648.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3079.999006 : TerrainNav update at dvl time = 3079.999006 : _navData-> (x,y) = (4063351.01, 572666.16) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3080.00 : 49.00 : Estimated East Bias at time = 3080.00 : 49.00 : Estimated Depth Bias at time = 3080.00 : 0.00 : Estimated northing and easting = 4063400.01 : 572715.16 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195648.98,3642.7839,N,-12211.1817,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,195649.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195649.98,3642.7840,N,-12211.1817,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,195650.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195650.98,3642.7841,N,-12211.1817,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : DepthEnvelope -- Measured altitude = 0.892799. Allowable altitude = 1.500000. t= 3129.60. Stopping! : AshtechGps::processRecord() - $GPGGA,195651.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.892799. Allowable altitude = 1.500000. t= 3129.80. Stopping! : DepthEnvelope -- Measured altitude = 0.892799. Allowable altitude = 1.500000. t= 3130.00. Stopping! : DepthEnvelope -- Measured altitude = 0.892289. Allowable altitude = 1.500000. t= 3130.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.892289. Allowable altitude = 1.500000. t= 3130.40. Stopping! : NMEA Update: $GPGGA,195651.98,3642.7842,N,-12211.1817,W,1,03,00.5,000.9,M,-99.9,M,,*42 : DepthEnvelope -- Measured altitude = 0.892289. Allowable altitude = 1.500000. t= 3130.60. Stopping! : AshtechGps::processRecord() - $GPGGA,195652.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.891772. Allowable altitude = 1.500000. t= 3130.80. Stopping! : DepthEnvelope -- Measured altitude = 0.891772. Allowable altitude = 1.500000. t= 3131.00. Stopping! : DepthEnvelope -- Measured altitude = 0.891772. Allowable altitude = 1.500000. t= 3131.20. Stopping! : DepthEnvelope -- Measured altitude = 1.005689. Allowable altitude = 1.500000. t= 3131.40. Stopping! : NMEA Update: $GPGGA,195652.98,3642.7844,N,-12211.1817,W,1,03,00.5,001.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195653.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.005689. Allowable altitude = 1.500000. t= 3131.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.005689. Allowable altitude = 1.500000. t= 3131.80. Stopping! : DepthEnvelope -- Measured altitude = 1.018512. Allowable altitude = 1.500000. t= 3132.00. Stopping! : DepthEnvelope -- Measured altitude = 1.018512. Allowable altitude = 1.500000. t= 3132.20. Stopping! : DepthEnvelope -- Measured altitude = 1.018512. Allowable altitude = 1.500000. t= 3132.40. Stopping! : NMEA Update: $GPGGA,195653.98,3642.7845,N,-12211.1816,W,1,03,00.5,001.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195654.00,,,,,0,00,,,M,,M,,*42 : DepthEnvelope -- Measured altitude = 1.065929. Allowable altitude = 1.500000. t= 3132.60. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.065929. Allowable altitude = 1.500000. t= 3132.80. Stopping! : DepthEnvelope -- Measured altitude = 1.065929. Allowable altitude = 1.500000. t= 3133.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.121707. Allowable altitude = 1.500000. t= 3133.20. Stopping! : DepthEnvelope -- Measured altitude = 1.121707. Allowable altitude = 1.500000. t= 3133.40. Stopping! : NMEA Update: $GPGGA,195654.98,3642.7846,N,-12211.1816,W,1,03,00.5,001.1,M,-99.9,M,,*4b : DepthEnvelope -- Measured altitude = 1.121707. Allowable altitude = 1.500000. t= 3133.60. Stopping! : AshtechGps::processRecord() - $GPGGA,195655.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.169275. Allowable altitude = 1.500000. t= 3133.80. Stopping! : DepthEnvelope -- Measured altitude = 1.169275. Allowable altitude = 1.500000. t= 3134.00. Stopping! : DepthEnvelope -- Measured altitude = 1.169275. Allowable altitude = 1.500000. t= 3134.20. Stopping! : DepthEnvelope -- Measured altitude = 1.224766. Allowable altitude = 1.500000. t= 3134.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195655.98,3642.7848,N,-12211.1815,W,1,03,00.5,001.2,M,-99.9,M,,*44 : DepthEnvelope -- Measured altitude = 1.224766. Allowable altitude = 1.500000. t= 3134.60. Stopping! : AshtechGps::processRecord() - $GPGGA,195656.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.224766. Allowable altitude = 1.500000. t= 3134.80. Stopping! : DepthEnvelope -- Measured altitude = 1.256703. Allowable altitude = 1.500000. t= 3135.00. Stopping! : DepthEnvelope -- Measured altitude = 1.256703. Allowable altitude = 1.500000. t= 3135.20. Stopping! : DepthEnvelope -- Measured altitude = 1.256703. Allowable altitude = 1.500000. t= 3135.40. Stopping! : NMEA Update: $GPGGA,195656.98,3642.7849,N,-12211.1815,W,1,03,00.5,001.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195657.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.308601. Allowable altitude = 1.500000. t= 3135.60. Stopping! : DepthEnvelope -- Measured altitude = 1.308601. Allowable altitude = 1.500000. t= 3135.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.308601. Allowable altitude = 1.500000. t= 3136.00. Stopping! : DepthEnvelope -- Measured altitude = 1.359274. Allowable altitude = 1.500000. t= 3136.20. Stopping! : DepthEnvelope -- Measured altitude = 1.359274. Allowable altitude = 1.500000. t= 3136.40. Stopping! : NMEA Update: $GPGGA,195657.98,3642.7850,N,-12211.1814,W,1,03,00.5,001.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195658.00,,,,,0,00,,,M,,M,,*4E : DepthEnvelope -- Measured altitude = 1.359274. Allowable altitude = 1.500000. t= 3136.60. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.382849. Allowable altitude = 1.500000. t= 3136.80. Stopping! : DepthEnvelope -- Measured altitude = 1.382849. Allowable altitude = 1.500000. t= 3137.00. Stopping! : DepthEnvelope -- Measured altitude = 1.382849. Allowable altitude = 1.500000. t= 3137.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3089.998321 : TerrainNav update at dvl time = 3089.998321 : _navData-> (x,y) = (4063353.28, 572666.62) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 1.457691. Allowable altitude = 1.500000. t= 3137.40. Stopping! : NMEA Update: $GPGGA,195658.98,3642.7852,N,-12211.1814,W,1,03,00.5,001.5,M,-99.9,M,,*44 : Estimated North Bias at time = 3090.00 : 49.00 : Estimated East Bias at time = 3090.00 : 49.00 : Estimated Depth Bias at time = 3090.00 : 0.00 : Estimated northing and easting = 4063402.28 : 572715.62 : DepthEnvelope -- Measured altitude = 1.457691. Allowable altitude = 1.500000. t= 3137.60. Stopping! : AshtechGps::processRecord() - $GPGGA,195659.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.457691. Allowable altitude = 1.500000. t= 3137.80. Stopping! : NMEA Update: $GPGGA,195659.98,3642.7853,N,-12211.1813,W,1,03,00.5,001.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195700.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195700.98,3642.7855,N,-12211.1812,W,1,03,00.5,001.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195701.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195701.98,3642.7856,N,-12211.1812,W,1,03,00.5,001.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195702.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195702.98,3642.7857,N,-12211.1812,W,1,03,00.5,001.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195703.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195703.98,3642.7858,N,-12211.1811,W,1,03,00.5,001.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195704.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195704.98,3642.7859,N,-12211.1811,W,1,03,00.5,002.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195705.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195705.98,3642.7860,N,-12211.1811,W,1,03,00.5,002.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195706.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195706.98,3642.7861,N,-12211.1810,W,1,03,00.5,002.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,195707.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195707.98,3642.7862,N,-12211.1810,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195708.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3099.997636 : TerrainNav update at dvl time = 3099.997636 : _navData-> (x,y) = (4063355.39, 572667.25) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3100.00 : 49.00 : Estimated East Bias at time = 3100.00 : 49.00 : Estimated Depth Bias at time = 3100.00 : 0.00 : Estimated northing and easting = 4063404.39 : 572716.25 : NMEA Update: $GPGGA,195708.98,3642.7863,N,-12211.1809,W,1,03,00.5,002.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195709.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195709.98,3642.7864,N,-12211.1809,W,1,03,00.5,002.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195710.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195710.98,3642.7865,N,-12211.1809,W,1,03,00.5,002.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195711.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195711.98,3642.7866,N,-12211.1808,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195712.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,195712.98,3642.7867,N,-12211.1808,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195713.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195713.98,3642.7868,N,-12211.1808,W,1,03,00.5,003.0,M,-99.9,M,,*49 : DepthEnvelope -- Depth 870.754750 shallower than restart depth 871.981336 and altitude 3.002820 greater than min altitude 1.500000 at t= 3152.59. Starting prop! : LayeredControl _resolvedCommand - vertMode=2 vert=870.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195714.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195714.98,3642.7869,N,-12211.1807,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195715.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.43 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195715.98,3642.7869,N,-12211.1807,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195716.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195716.98,3642.7870,N,-12211.1807,W,1,03,00.5,003.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195717.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195717.98,3642.7871,N,-12211.1806,W,1,03,00.5,003.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195718.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3109.996951 : TerrainNav update at dvl time = 3109.996951 : _navData-> (x,y) = (4063357.12, 572667.76) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3110.00 : 49.00 : Estimated East Bias at time = 3110.00 : 49.00 : Estimated Depth Bias at time = 3110.00 : 0.00 : Estimated northing and easting = 4063406.12 : 572716.76 : NMEA Update: $GPGGA,195718.98,3642.7872,N,-12211.1806,W,1,03,00.5,003.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195719.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195719.98,3642.7874,N,-12211.1805,W,1,03,00.5,003.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195720.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195720.98,3642.7875,N,-12211.1805,W,1,03,00.5,003.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=870.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195721.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195721.98,3642.7877,N,-12211.1804,W,1,03,00.5,003.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195722.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195722.98,3642.7879,N,-12211.1803,W,1,03,00.5,003.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195723.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195723.98,3642.7882,N,-12211.1802,W,1,03,00.5,003.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195724.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195724.98,3642.7884,N,-12211.1802,W,1,03,00.5,004.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195725.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.12 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195725.98,3642.7887,N,-12211.1801,W,1,03,00.5,004.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195726.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.07 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195726.98,3642.7890,N,-12211.1800,W,1,03,00.5,004.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195727.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195727.98,3642.7893,N,-12211.1799,W,1,03,00.5,004.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=870.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195728.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 3119.996266 : TerrainNav update at dvl time = 3119.996266 : _navData-> (x,y) = (4063361.36, 572668.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195728.98,3642.7896,N,-12211.1798,W,1,03,00.5,004.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195729.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3120.00 : 49.00 : Estimated East Bias at time = 3120.00 : 49.00 : Estimated Depth Bias at time = 3120.00 : 0.00 : Estimated northing and easting = 4063410.36 : 572717.83 : LayeredControl _resolvedCommand - vertMode=2 vert=869.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195729.98,3642.7899,N,-12211.1798,W,1,03,00.5,004.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195730.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195730.98,3642.7902,N,-12211.1797,W,1,03,00.5,004.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195731.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195731.98,3642.7906,N,-12211.1796,W,1,03,00.5,004.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195732.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195732.98,3642.7910,N,-12211.1795,W,1,03,00.5,004.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195733.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195733.98,3642.7913,N,-12211.1794,W,1,03,00.5,004.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195734.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195734.98,3642.7917,N,-12211.1793,W,1,03,00.5,003.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=869.91 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195735.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195735.98,3642.7921,N,-12211.1792,W,1,03,00.5,003.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195736.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195736.98,3642.7925,N,-12211.1791,W,1,03,00.5,003.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195737.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195737.98,3642.7929,N,-12211.1790,W,1,03,00.5,003.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195738.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3129.995581 : TerrainNav update at dvl time = 3129.995581 : _navData-> (x,y) = (4063368.19, 572670.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195738.98,3642.7933,N,-12211.1789,W,1,03,00.5,003.7,M,-99.9,M,,*4e : Estimated North Bias at time = 3130.00 : 49.00 : Estimated East Bias at time = 3130.00 : 49.00 : Estimated Depth Bias at time = 3130.00 : 0.00 : Estimated northing and easting = 4063417.19 : 572719.15 : AshtechGps::processRecord() - $GPGGA,195739.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.90 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195739.98,3642.7937,N,-12211.1788,W,1,03,00.5,003.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195740.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.73 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195740.98,3642.7941,N,-12211.1787,W,1,03,00.5,003.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195741.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195741.98,3642.7945,N,-12211.1786,W,1,03,00.5,003.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=869.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195742.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195742.98,3642.7950,N,-12211.1785,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195743.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195743.98,3642.7954,N,-12211.1784,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195744.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=869.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195744.98,3642.7958,N,-12211.1783,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195745.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195745.98,3642.7963,N,-12211.1782,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195746.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195746.98,3642.7967,N,-12211.1781,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195747.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4063276.4, 572653.4), reached at t = 3185.79 (wplog) : Vehicle Position error is (-98.4, -18.1) : The distance to the waypoint is -100.1. : LayeredControl::execute() -- (t = 3185.791758) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 3185.80 (wplog) The current location (N,E) = 4063374.9 , 572671.5 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 191.7 Degrees. : LayeredControl::execute() -- (t = 3185.801758) Behavior waypoint_homing:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=869.67 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195747.98,3642.7970,N,-12211.1778,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195748.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3139.994896 : TerrainNav update at dvl time = 3139.994896 : _navData-> (x,y) = (4063375.89, 572671.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195748.98,3642.7974,N,-12211.1777,W,1,03,00.5,002.6,M,-99.9,M,,*4b : Estimated North Bias at time = 3139.99 : 49.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=869.57 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195749.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 3139.99 : 49.00 : Estimated Depth Bias at time = 3139.99 : 0.00 : Estimated northing and easting = 4063424.89 : 572720.85 : NMEA Update: $GPGGA,195749.99,3642.7978,N,-12211.1776,W,1,03,00.5,002.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195750.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.50 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195750.99,3642.7983,N,-12211.1776,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195751.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.66 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195751.99,3642.7987,N,-12211.1775,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195752.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195752.99,3642.7992,N,-12211.1775,W,1,03,00.5,002.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195753.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.62 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195753.99,3642.7997,N,-12211.1775,W,1,03,00.5,002.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195754.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.62 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195754.99,3642.8001,N,-12211.1775,W,1,03,00.5,002.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195755.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195755.99,3642.8006,N,-12211.1777,W,1,03,00.5,002.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=869.55 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195756.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195756.99,3642.8010,N,-12211.1778,W,1,03,00.5,002.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195757.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.61 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195757.99,3642.8014,N,-12211.1780,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195758.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 3149.994211 : TerrainNav update at dvl time = 3149.994211 : _navData-> (x,y) = (4063383.82, 572671.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=869.56 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195758.99,3642.8017,N,-12211.1782,W,1,03,00.5,002.2,M,-99.9,M,,*46 : Estimated North Bias at time = 3149.99 : 50.00 : AshtechGps::processRecord() - $GPGGA,195759.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 3149.99 : 50.00 : Estimated Depth Bias at time = 3149.99 : 0.00 : Estimated northing and easting = 4063433.82 : 572721.11 : NMEA Update: $GPGGA,195759.99,3642.8021,N,-12211.1786,W,1,03,00.5,002.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195800.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.48 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195800.99,3642.8023,N,-12211.1789,W,1,03,00.5,002.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195801.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.42 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195801.99,3642.8026,N,-12211.1792,W,1,03,00.5,002.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195802.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195802.99,3642.8028,N,-12211.1796,W,1,03,00.5,002.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195803.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.40 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195803.99,3642.8030,N,-12211.1799,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195804.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.61 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195804.99,3642.8032,N,-12211.1803,W,1,03,00.5,002.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195805.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 3204.2 with dtw = 227.60 : LayeredControl _resolvedCommand - vertMode=2 vert=869.25 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195805.99,3642.8033,N,-12211.1808,W,1,03,00.5,002.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195806.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195806.99,3642.8034,N,-12211.1812,W,1,03,00.5,002.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195807.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.23 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195807.99,3642.8035,N,-12211.1816,W,1,03,00.5,002.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195808.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.25 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3159.993526 : TerrainNav update at dvl time = 3159.993526 : _navData-> (x,y) = (4063387.15, 572665.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195808.99,3642.8035,N,-12211.1820,W,1,03,00.5,002.5,M,-99.9,M,,*4c : Estimated North Bias at time = 3159.99 : 49.00 : Estimated East Bias at time = 3159.99 : 49.00 : Estimated Depth Bias at time = 3159.99 : 0.00 : Estimated northing and easting = 4063436.15 : 572714.51 : AshtechGps::processRecord() - $GPGGA,195809.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195809.99,3642.8035,N,-12211.1824,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195810.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.22 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195810.99,3642.8035,N,-12211.1829,W,1,03,00.5,002.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195811.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.12 horzlMode=3 horz=3.35 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195811.99,3642.8034,N,-12211.1833,W,1,03,00.5,002.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195812.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3211.40 Seconds. : The vehicle position is (4063386.8, 572662.9) : NMEA Update: $GPGGA,195812.99,3642.8033,N,-12211.1837,W,1,03,00.5,002.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=869.30 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195813.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 3212.40 Seconds. : The vehicle position is is (4063386.5, 572662.4) : NMEA Update: $GPGGA,195813.99,3642.8031,N,-12211.1840,W,1,03,00.5,002.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195814.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.34 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195814.99,3642.8030,N,-12211.1844,W,1,03,00.5,002.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195815.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3213.60 Seconds. : The vehicle position is (4063386.1, 572661.7) : LayeredControl _resolvedCommand - vertMode=2 vert=869.35 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195815.99,3642.8028,N,-12211.1848,W,1,03,00.5,002.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195816.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 3214.80 Seconds. : The vehicle position is is (4063385.7, 572661.1) : NMEA Update: $GPGGA,195816.99,3642.8026,N,-12211.1851,W,1,03,00.5,002.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195817.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.83 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195817.99,3642.8023,N,-12211.1854,W,1,03,00.5,002.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195818.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3217.00 Seconds. : The vehicle position is (4063384.7, 572660.2) : LayeredControl _resolvedCommand - vertMode=2 vert=869.55 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3170.002840 : TerrainNav update at dvl time = 3170.002840 : _navData-> (x,y) = (4063384.65, 572660.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195818.99,3642.8021,N,-12211.1856,W,1,03,00.5,002.7,M,-99.9,M,,*4b : Estimated North Bias at time = 3170.00 : 49.00 : Estimated East Bias at time = 3170.00 : 49.00 : Estimated Depth Bias at time = 3170.00 : 0.00 : Estimated northing and easting = 4063433.65 : 572709.13 : AshtechGps::processRecord() - $GPGGA,195819.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.58 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195819.99,3642.8018,N,-12211.1858,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195820.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195820.99,3642.8015,N,-12211.1860,W,1,03,00.5,002.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195821.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.59 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195821.99,3642.8014,N,-12211.1861,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195822.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.55 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195822.99,3642.8013,N,-12211.1862,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195823.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon has exited the Usbl Fov at t = 3222.4 with dtw = 123.34 : WaypointHoming: The Usbl does NOT detect the transponder at t = 3222.40 Seconds. : NMEA Update: $GPGGA,195823.99,3642.8010,N,-12211.1863,W,1,03,00.5,003.1,M,-99.9,M,,*40 : The vehicle position is is (4063382.5, 572659.0) : AshtechGps::processRecord() - $GPGGA,195824.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.54 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195824.99,3642.8007,N,-12211.1864,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195825.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.55 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195825.99,3642.8004,N,-12211.1864,W,1,03,00.5,003.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195826.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.49 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195826.99,3642.8000,N,-12211.1863,W,1,03,00.5,003.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195827.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195827.99,3642.7997,N,-12211.1863,W,1,03,00.5,003.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195828.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.39 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3180.002155 : TerrainNav update at dvl time = 3180.002155 : _navData-> (x,y) = (4063379.70, 572659.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195828.99,3642.7994,N,-12211.1862,W,1,03,00.5,003.4,M,-99.9,M,,*45 : Estimated North Bias at time = 3180.00 : 49.00 : Estimated East Bias at time = 3180.00 : 49.00 : Estimated Depth Bias at time = 3180.00 : 0.00 : Estimated northing and easting = 4063428.70 : 572708.20 : AshtechGps::processRecord() - $GPGGA,195829.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.41 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195829.99,3642.7991,N,-12211.1861,W,1,03,00.5,003.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195830.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195830.99,3642.7988,N,-12211.1860,W,1,03,00.5,003.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195831.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195831.99,3642.7985,N,-12211.1859,W,1,03,00.5,003.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195832.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.49 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195832.99,3642.7981,N,-12211.1857,W,1,03,00.5,003.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195833.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.85 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195833.99,3642.7978,N,-12211.1855,W,1,03,00.5,003.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195834.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195834.99,3642.7975,N,-12211.1853,W,1,03,00.5,003.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195835.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.57 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195835.99,3642.7971,N,-12211.1852,W,1,03,00.5,003.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195836.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.10 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195836.99,3642.7968,N,-12211.1850,W,1,03,00.5,003.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195837.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195837.99,3642.7964,N,-12211.1847,W,1,03,00.5,003.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195838.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.65 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3190.001470 : TerrainNav update at dvl time = 3190.001470 : _navData-> (x,y) = (4063373.48, 572661.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195838.99,3642.7960,N,-12211.1845,W,1,03,00.5,003.4,M,-99.9,M,,*4a : Estimated North Bias at time = 3190.00 : 49.00 : Estimated East Bias at time = 3190.00 : 49.00 : Estimated Depth Bias at time = 3190.00 : 0.00 : Estimated northing and easting = 4063422.48 : 572710.72 : AshtechGps::processRecord() - $GPGGA,195839.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.68 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195839.99,3642.7957,N,-12211.1843,W,1,03,00.5,003.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195840.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.74 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195840.99,3642.7953,N,-12211.1840,W,1,03,00.5,003.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195841.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195841.99,3642.7949,N,-12211.1838,W,1,03,00.5,003.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195842.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.69 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195842.99,3642.7945,N,-12211.1836,W,1,03,00.5,003.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195843.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.83 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195843.99,3642.7941,N,-12211.1833,W,1,03,00.5,003.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195844.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195844.99,3642.7937,N,-12211.1831,W,1,03,00.5,003.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195845.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.66 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195845.99,3642.7933,N,-12211.1829,W,1,03,00.5,003.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195846.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.18 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195846.99,3642.7929,N,-12211.1827,W,1,03,00.5,003.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195847.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=869.87 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195847.99,3642.7924,N,-12211.1825,W,1,03,00.5,003.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195848.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3200.000785 : TerrainNav update at dvl time = 3200.000785 : _navData-> (x,y) = (4063366.09, 572665.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195848.99,3642.7920,N,-12211.1824,W,1,03,00.5,003.3,M,-99.9,M,,*49 : Estimated North Bias at time = 3200.00 : 49.00 : Estimated East Bias at time = 3200.00 : 49.00 : Estimated Depth Bias at time = 3200.00 : 0.00 : Estimated northing and easting = 4063415.09 : 572714.00 : AshtechGps::processRecord() - $GPGGA,195849.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.05 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195849.99,3642.7916,N,-12211.1822,W,1,03,00.5,003.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195850.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.04 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195850.99,3642.7911,N,-12211.1821,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195851.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195851.98,3642.7907,N,-12211.1820,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195852.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.17 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195852.98,3642.7902,N,-12211.1819,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195853.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.30 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195853.98,3642.7898,N,-12211.1818,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195854.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.27 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195854.98,3642.7893,N,-12211.1817,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195855.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195855.98,3642.7888,N,-12211.1816,W,1,03,00.5,003.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195856.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.23 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195856.98,3642.7884,N,-12211.1815,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195857.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.34 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195857.98,3642.7879,N,-12211.1815,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195858.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3210.000100 : TerrainNav update at dvl time = 3210.000100 : _navData-> (x,y) = (4063357.56, 572666.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195858.98,3642.7874,N,-12211.1814,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195859.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.32 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated North Bias at time = 3210.00 : 49.00 : Estimated East Bias at time = 3210.00 : 49.00 : Estimated Depth Bias at time = 3210.00 : 0.00 : Estimated northing and easting = 4063406.56 : 572715.53 : NMEA Update: $GPGGA,195859.98,3642.7869,N,-12211.1813,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195900.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.48 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195900.98,3642.7864,N,-12211.1813,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195901.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.42 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195901.98,3642.7859,N,-12211.1812,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195902.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195902.98,3642.7854,N,-12211.1812,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195903.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.57 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : WaypointHoming:: Beacon is in the Usbl Fov at t = 3262.2 with dtw = 95.77 : NMEA Update: $GPGGA,195903.98,3642.7850,N,-12211.1812,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195904.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3263.00 Seconds. : The vehicle position is (4063352.4, 572666.9) : LayeredControl _resolvedCommand - vertMode=2 vert=870.97 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195904.98,3642.7845,N,-12211.1812,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195905.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195905.98,3642.7840,N,-12211.1812,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195906.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.13 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195906.98,3642.7835,N,-12211.1812,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195907.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.73 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195907.98,3642.7830,N,-12211.1812,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195908.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3219.999415 : TerrainNav update at dvl time = 3219.999415 : _navData-> (x,y) = (4063348.56, 572666.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=870.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195908.98,3642.7825,N,-12211.1813,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195909.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3220.00 : 50.00 : Estimated East Bias at time = 3220.00 : 50.00 : Estimated Depth Bias at time = 3220.00 : 0.00 : Estimated northing and easting = 4063398.56 : 572716.82 : NMEA Update: $GPGGA,195909.98,3642.7821,N,-12211.1813,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195910.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.90 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195910.98,3642.7817,N,-12211.1814,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195911.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=870.96 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195911.98,3642.7812,N,-12211.1815,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195912.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195912.98,3642.7808,N,-12211.1816,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195913.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.02 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195913.98,3642.7803,N,-12211.1818,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195914.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195914.98,3642.7798,N,-12211.1819,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195915.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.10 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195915.98,3642.7794,N,-12211.1821,W,1,03,00.5,002.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195916.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195916.98,3642.7789,N,-12211.1823,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195917.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.18 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195917.98,3642.7784,N,-12211.1826,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195918.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.12 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3229.998730 : TerrainNav update at dvl time = 3229.998730 : _navData-> (x,y) = (4063340.22, 572664.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195918.98,3642.7780,N,-12211.1829,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195919.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3230.00 : 50.00 : Estimated East Bias at time = 3230.00 : 50.00 : Estimated Depth Bias at time = 3230.00 : 0.00 : Estimated northing and easting = 4063390.22 : 572714.61 : NMEA Update: $GPGGA,195919.98,3642.7776,N,-12211.1832,W,1,03,00.5,003.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=871.36 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195920.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195920.98,3642.7772,N,-12211.1834,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195921.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.28 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195921.98,3642.7768,N,-12211.1837,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195922.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.39 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195922.98,3642.7764,N,-12211.1841,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195923.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195923.98,3642.7760,N,-12211.1844,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195924.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.56 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195924.98,3642.7756,N,-12211.1847,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195925.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.59 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195925.98,3642.7752,N,-12211.1850,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195926.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195926.98,3642.7747,N,-12211.1854,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195927.00,,,,,0,00,,,M,,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=872.03 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195927.98,3642.7743,N,-12211.1857,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195928.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.71 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3239.998045 : TerrainNav update at dvl time = 3239.998045 : _navData-> (x,y) = (4063332.62, 572660.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195928.98,3642.7739,N,-12211.1860,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195929.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3240.00 : 50.00 : Estimated East Bias at time = 3240.00 : 50.00 : Estimated Depth Bias at time = 3240.00 : 0.00 : Estimated northing and easting = 4063382.62 : 572710.01 : LayeredControl _resolvedCommand - vertMode=2 vert=871.66 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195929.98,3642.7735,N,-12211.1863,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195930.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195930.98,3642.7731,N,-12211.1866,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195931.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.81 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195931.98,3642.7726,N,-12211.1869,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195932.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.79 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195932.98,3642.7722,N,-12211.1872,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195933.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195933.98,3642.7717,N,-12211.1874,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195934.00,,,,,0,00,,,M,,M,,*4B : LayeredControl _resolvedCommand - vertMode=2 vert=871.92 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195934.98,3642.7713,N,-12211.1877,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195935.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.00 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195935.98,3642.7709,N,-12211.1879,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195936.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195936.98,3642.7704,N,-12211.1882,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195937.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195937.98,3642.7700,N,-12211.1884,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195938.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3249.997360 : TerrainNav update at dvl time = 3249.997360 : _navData-> (x,y) = (4063324.44, 572656.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195938.98,3642.7695,N,-12211.1886,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195939.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3250.00 : 50.00 : Estimated East Bias at time = 3250.00 : 50.00 : Estimated Depth Bias at time = 3250.00 : 0.00 : Estimated northing and easting = 4063374.44 : 572706.15 : LayeredControl _resolvedCommand - vertMode=2 vert=872.15 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195939.98,3642.7690,N,-12211.1888,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195940.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195940.98,3642.7686,N,-12211.1890,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195941.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.23 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195941.98,3642.7681,N,-12211.1893,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195942.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.29 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195942.98,3642.7677,N,-12211.1894,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195943.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.36 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195943.98,3642.7672,N,-12211.1896,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195944.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195944.98,3642.7668,N,-12211.1898,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195945.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.43 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195945.98,3642.7663,N,-12211.1900,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195946.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.47 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195946.98,3642.7658,N,-12211.1902,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195947.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195947.98,3642.7653,N,-12211.1903,W,1,03,00.5,003.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=872.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195948.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3259.996675 : TerrainNav update at dvl time = 3259.996675 : _navData-> (x,y) = (4063315.76, 572653.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195948.98,3642.7648,N,-12211.1905,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195949.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3260.00 : 50.00 : Estimated East Bias at time = 3260.00 : 50.00 : Estimated Depth Bias at time = 3260.00 : 0.00 : Estimated northing and easting = 4063365.76 : 572703.41 : LayeredControl _resolvedCommand - vertMode=2 vert=872.60 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195949.98,3642.7643,N,-12211.1907,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195950.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.67 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195950.98,3642.7639,N,-12211.1908,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195951.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195951.98,3642.7634,N,-12211.1910,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195952.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.76 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195952.98,3642.7629,N,-12211.1912,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195953.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195953.98,3642.7624,N,-12211.1913,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195954.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195954.98,3642.7620,N,-12211.1914,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=872.85 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195955.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195955.98,3642.7615,N,-12211.1915,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195956.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.00 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195956.98,3642.7610,N,-12211.1917,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195957.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195957.98,3642.7605,N,-12211.1918,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195958.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3269.995990 : TerrainNav update at dvl time = 3269.995990 : _navData-> (x,y) = (4063306.82, 572651.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195958.98,3642.7600,N,-12211.1919,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195959.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.09 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated North Bias at time = 3270.00 : 50.00 : Estimated East Bias at time = 3270.00 : 50.00 : Estimated Depth Bias at time = 3270.00 : 0.00 : Estimated northing and easting = 4063356.82 : 572701.35 : NMEA Update: $GPGGA,195959.98,3642.7595,N,-12211.1921,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200000.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.09 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200000.98,3642.7590,N,-12211.1922,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200001.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200001.98,3642.7585,N,-12211.1923,W,1,03,00.5,003.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=873.23 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200002.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200002.98,3642.7580,N,-12211.1924,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200003.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.15 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200003.98,3642.7576,N,-12211.1925,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200004.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.27 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200004.98,3642.7570,N,-12211.1926,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200005.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200005.98,3642.7566,N,-12211.1927,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200006.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.45 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200006.98,3642.7561,N,-12211.1928,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200007.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200007.98,3642.7556,N,-12211.1929,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200008.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3279.995305 : TerrainNav update at dvl time = 3279.995305 : _navData-> (x,y) = (4063297.72, 572649.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200008.98,3642.7551,N,-12211.1930,W,1,03,00.5,003.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=873.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200009.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3280.00 : 50.00 : Estimated East Bias at time = 3280.00 : 50.00 : Estimated Depth Bias at time = 3280.00 : 0.00 : Estimated northing and easting = 4063347.72 : 572699.77 : NMEA Update: $GPGGA,200009.98,3642.7546,N,-12211.1931,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200010.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.67 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200010.98,3642.7541,N,-12211.1932,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200011.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.59 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200011.98,3642.7536,N,-12211.1933,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200012.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200012.98,3642.7531,N,-12211.1934,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200013.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.75 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : WaypointHoming has set the state to finished. : WaypointHoming (4063263.4, 572645.1), reached at t = 3332.19 (wplog) : Vehicle Position error is (-29.7, -4.0) : The distance to the waypoint is 29.9. : LayeredControl::execute() -- (t = 3332.191729) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 3332.19. : LayeredControl::execute() -- (t = 3332.201728) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 3332.20 (wplog) The current location (N,E) = 4063293.1 , 572649.1 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 189.3 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 3332.2 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 3332.20 Seconds. : The vehicle position is (4063293.1, 572649.1) : LayeredControl::execute() -- (t = 3332.201728) Behavior waypoint_homing:-1 has changed to state Active : NMEA Update: $GPGGA,200013.98,3642.7526,N,-12211.1935,W,1,03,00.5,003.1,M,-99.9,M,,*48 : CameraDriver::readData - starting a 40 photo sequence. : AshtechGps::processRecord() - $GPGGA,200014.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.23 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200015.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.88 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200016.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200016.19,3642.7515,N,-12211.1937,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200017.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200017.19,3642.7510,N,-12211.1938,W,1,03,00.5,003.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=873.93 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200018.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200018.19,3642.7505,N,-12211.1939,W,1,03,00.5,003.1,M,-99.9,M,,*47 : TerrainNav update at nav time = 3289.994620 : TerrainNav update at dvl time = 3289.994620 : _navData-> (x,y) = (4063288.48, 572648.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=873.97 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated North Bias at time = 3289.99 : 50.00 : AshtechGps::processRecord() - $GPGGA,200019.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200019.19,3642.7500,N,-12211.1940,W,1,03,00.5,003.1,M,-99.9,M,,*4d : Estimated East Bias at time = 3289.99 : 50.00 : Estimated Depth Bias at time = 3289.99 : 0.00 : Estimated northing and easting = 4063338.48 : 572698.49 : AshtechGps::processRecord() - $GPGGA,200020.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200020.19,3642.7495,N,-12211.1940,W,1,03,00.5,003.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=874.96 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200021.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200021.19,3642.7490,N,-12211.1941,W,1,03,00.5,003.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=874.08 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200022.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200022.19,3642.7485,N,-12211.1942,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=874.16 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200023.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200023.19,3642.7480,N,-12211.1942,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200024.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200024.19,3642.7475,N,-12211.1943,W,1,03,00.5,003.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=874.19 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200025.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200025.19,3642.7470,N,-12211.1944,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=874.22 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200026.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200026.19,3642.7465,N,-12211.1944,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200027.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200027.19,3642.7460,N,-12211.1945,W,1,03,00.5,003.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=874.43 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200028.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200028.19,3642.7455,N,-12211.1946,W,1,03,00.5,003.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=874.37 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3299.993935 : TerrainNav update at dvl time = 3299.993935 : _navData-> (x,y) = (4063279.31, 572647.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200029.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200029.19,3642.7450,N,-12211.1947,W,1,03,00.5,003.0,M,-99.9,M,,*4c : Estimated North Bias at time = 3299.99 : 50.00 : Estimated East Bias at time = 3299.99 : 50.00 : Estimated Depth Bias at time = 3299.99 : 0.00 : Estimated northing and easting = 4063329.31 : 572697.49 : AshtechGps::processRecord() - $GPGGA,200030.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.52 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200030.19,3642.7446,N,-12211.1948,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200031.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200031.19,3642.7441,N,-12211.1949,W,1,03,00.5,003.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=874.52 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200032.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200032.19,3642.7436,N,-12211.1949,W,1,03,00.5,003.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=874.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200033.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200033.19,3642.7431,N,-12211.1950,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200034.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200034.19,3642.7426,N,-12211.1950,W,1,03,00.5,003.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=874.66 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200035.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200035.19,3642.7421,N,-12211.1951,W,1,03,00.5,003.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=874.67 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200036.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200036.19,3642.7416,N,-12211.1952,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200037.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.75 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200037.19,3642.7411,N,-12211.1953,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200038.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200038.19,3642.7406,N,-12211.1953,W,1,03,00.5,003.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=874.81 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3309.993250 : TerrainNav update at dvl time = 3309.993250 : _navData-> (x,y) = (4063270.24, 572646.46) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3309.99 : 50.00 : Estimated East Bias at time = 3309.99 : 50.00 : Estimated Depth Bias at time = 3309.99 : 0.00 : Estimated northing and easting = 4063320.24 : 572696.46 : AshtechGps::processRecord() - $GPGGA,200039.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200039.19,3642.7401,N,-12211.1954,W,1,03,00.5,003.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=874.88 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200040.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200040.19,3642.7396,N,-12211.1955,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200041.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200041.19,3642.7391,N,-12211.1956,W,1,03,00.5,003.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=874.92 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200042.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200042.19,3642.7386,N,-12211.1957,W,1,03,00.5,003.0,M,-99.9,M,,*4c : WaypointHoming: The Usbl does NOT detect the transponder at t = 3360.80 Seconds. : The vehicle position is is (4063266.9, 572646.0) : LayeredControl _resolvedCommand - vertMode=2 vert=874.84 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200043.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3361.60 Seconds. : The vehicle position is (4063266.2, 572645.9) : NMEA Update: $GPGGA,200043.19,3642.7381,N,-12211.1958,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200044.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.04 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200044.19,3642.7376,N,-12211.1958,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200045.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200045.19,3642.7371,N,-12211.1959,W,1,03,00.5,003.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=875.11 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 3364.40 Seconds. : The vehicle position is is (4063263.6, 572645.6) : AshtechGps::processRecord() - $GPGGA,200046.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200046.19,3642.7366,N,-12211.1960,W,1,03,00.5,003.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=875.19 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200047.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200047.19,3642.7361,N,-12211.1961,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200048.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200048.19,3642.7356,N,-12211.1962,W,1,03,00.5,003.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=875.22 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3320.002564 : TerrainNav update at dvl time = 3320.002564 : _navData-> (x,y) = (4063260.97, 572645.32) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3320.00 : 50.00 : Estimated East Bias at time = 3320.00 : 50.00 : Estimated Depth Bias at time = 3320.00 : 0.00 : Estimated northing and easting = 4063310.97 : 572695.32 : AshtechGps::processRecord() - $GPGGA,200049.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200049.19,3642.7351,N,-12211.1962,W,1,03,00.5,003.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=875.60 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200050.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200050.19,3642.7347,N,-12211.1963,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200051.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.37 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200051.19,3642.7342,N,-12211.1964,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200052.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200052.19,3642.7337,N,-12211.1965,W,1,03,00.5,002.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=875.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200053.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200053.19,3642.7332,N,-12211.1966,W,1,03,00.5,002.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=875.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200054.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200054.19,3642.7327,N,-12211.1966,W,1,03,00.5,002.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200055.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200055.19,3642.7322,N,-12211.1968,W,1,03,00.5,002.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=875.45 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200056.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200056.19,3642.7317,N,-12211.1969,W,1,03,00.5,002.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=875.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200057.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200057.19,3642.7312,N,-12211.1970,W,1,03,00.5,002.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200058.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.66 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200058.19,3642.7307,N,-12211.1970,W,1,03,00.5,002.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 3330.001879 : TerrainNav update at dvl time = 3330.001879 : _navData-> (x,y) = (4063251.79, 572644.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200059.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200059.19,3642.7302,N,-12211.1972,W,1,03,00.5,002.9,M,-99.9,M,,*45 : Estimated North Bias at time = 3330.00 : 50.00 : Estimated East Bias at time = 3330.00 : 50.00 : Estimated Depth Bias at time = 3330.00 : 0.00 : Estimated northing and easting = 4063301.79 : 572694.06 : LayeredControl _resolvedCommand - vertMode=2 vert=875.73 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200100.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200100.19,3642.7297,N,-12211.1973,W,1,03,00.5,002.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=876.08 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200101.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200101.19,3642.7292,N,-12211.1974,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200102.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200102.19,3642.7287,N,-12211.1975,W,1,03,00.5,002.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=875.77 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200103.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200103.19,3642.7282,N,-12211.1976,W,1,03,00.5,002.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=875.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200104.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200104.19,3642.7277,N,-12211.1977,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200105.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.87 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200105.19,3642.7273,N,-12211.1978,W,1,03,00.5,002.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200106.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200106.19,3642.7268,N,-12211.1979,W,1,03,00.5,003.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=875.82 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200107.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200107.19,3642.7263,N,-12211.1980,W,1,03,00.5,003.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=875.97 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200108.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200108.19,3642.7258,N,-12211.1981,W,1,03,00.5,003.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 3340.001194 : TerrainNav update at dvl time = 3340.001194 : _navData-> (x,y) = (4063242.82, 572642.55) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3340.00 : 50.00 : Estimated East Bias at time = 3340.00 : 50.00 : Estimated Depth Bias at time = 3340.00 : 0.00 : Estimated northing and easting = 4063292.82 : 572692.55 : AshtechGps::processRecord() - $GPGGA,200109.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200109.19,3642.7253,N,-12211.1982,W,1,03,00.5,003.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=876.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200110.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200110.19,3642.7248,N,-12211.1984,W,1,03,00.5,003.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=876.08 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200111.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200111.19,3642.7244,N,-12211.1985,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200112.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.16 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200112.19,3642.7239,N,-12211.1986,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200113.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200113.19,3642.7234,N,-12211.1987,W,1,03,00.5,003.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=876.20 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200114.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200114.19,3642.7229,N,-12211.1988,W,1,03,00.5,002.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=876.27 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200115.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200115.19,3642.7225,N,-12211.1989,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200116.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200116.19,3642.7220,N,-12211.1991,W,1,03,00.5,002.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=876.30 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200117.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200117.19,3642.7215,N,-12211.1992,W,1,03,00.5,002.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=876.36 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200118.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200118.18,3642.7210,N,-12211.1994,W,1,03,00.5,002.9,M,-99.9,M,,*4a : TerrainNav update at nav time = 3350.000509 : TerrainNav update at dvl time = 3350.000509 : _navData-> (x,y) = (4063233.86, 572640.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200119.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.78 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200119.18,3642.7205,N,-12211.1995,W,1,03,00.5,002.9,M,-99.9,M,,*4e : Estimated North Bias at time = 3350.00 : 50.00 : Estimated East Bias at time = 3350.00 : 50.00 : Estimated Depth Bias at time = 3350.00 : 0.00 : Estimated northing and easting = 4063283.86 : 572690.74 : AshtechGps::processRecord() - $GPGGA,200120.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200120.18,3642.7200,N,-12211.1996,W,1,03,00.5,002.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=876.43 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200121.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200121.18,3642.7195,N,-12211.1998,W,1,03,00.5,002.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=876.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200122.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200122.18,3642.7190,N,-12211.1999,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200123.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200123.18,3642.7185,N,-12211.2001,W,1,03,00.5,002.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=876.54 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200124.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200124.18,3642.7180,N,-12211.2002,W,1,03,00.5,002.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=876.58 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200125.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200125.18,3642.7176,N,-12211.2003,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200126.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.60 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200126.18,3642.7170,N,-12211.2004,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200127.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200127.18,3642.7167,N,-12211.2005,W,1,03,00.5,003.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=877.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200128.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200128.18,3642.7162,N,-12211.2006,W,1,03,00.5,003.0,M,-99.9,M,,*46 : TerrainNav update at nav time = 3359.999824 : TerrainNav update at dvl time = 3359.999824 : _navData-> (x,y) = (4063225.07, 572638.97) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=876.78 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200129.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200129.18,3642.7157,N,-12211.2007,W,1,03,00.5,003.0,M,-99.9,M,,*40 : Estimated North Bias at time = 3360.00 : 50.00 : Estimated East Bias at time = 3360.00 : 50.00 : Estimated Depth Bias at time = 3360.00 : 0.00 : Estimated northing and easting = 4063275.07 : 572688.97 : AshtechGps::processRecord() - $GPGGA,200130.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200130.18,3642.7153,N,-12211.2009,W,1,03,00.5,003.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=876.90 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200131.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200131.18,3642.7148,N,-12211.2010,W,1,03,00.5,003.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=876.71 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200132.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200132.18,3642.7143,N,-12211.2011,W,1,03,00.5,003.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=876.94 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200133.00,,,,,0,00,,,M,,M,,*4B : NMEA Update: $GPGGA,200133.18,3642.7138,N,-12211.2011,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200134.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200134.18,3642.7133,N,-12211.2013,W,1,03,00.5,003.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=876.96 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200135.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200135.18,3642.7128,N,-12211.2014,W,1,03,00.5,003.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=876.99 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200136.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200136.18,3642.7123,N,-12211.2016,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200137.00,,,,,0,00,,,M,,M,,*4F : NMEA Update: $GPGGA,200137.18,3642.7118,N,-12211.2017,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.14 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200138.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200138.18,3642.7114,N,-12211.2018,W,1,03,00.5,002.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=877.15 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3369.999139 : TerrainNav update at dvl time = 3369.999139 : _navData-> (x,y) = (4063216.11, 572637.27) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3370.00 : 50.00 : Estimated East Bias at time = 3370.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,200139.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200139.18,3642.7109,N,-12211.2019,W,1,03,00.5,002.9,M,-99.9,M,,*4d : Estimated Depth Bias at time = 3370.00 : 0.00 : Estimated northing and easting = 4063266.11 : 572687.27 : AshtechGps::processRecord() - $GPGGA,200140.00,,,,,0,00,,,M,,M,,*4F : LayeredControl _resolvedCommand - vertMode=2 vert=877.15 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200140.18,3642.7104,N,-12211.2020,W,1,03,00.5,003.0,M,-99.9,M,,*4c : NMEA Update: $GPGGA,200141.18,3642.7099,N,-12211.2022,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200141.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.74 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200142.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200142.18,3642.7094,N,-12211.2023,W,1,03,00.5,003.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=877.26 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200143.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200143.18,3642.7090,N,-12211.2024,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200144.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200144.18,3642.7085,N,-12211.2026,W,1,03,00.5,003.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=877.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200145.18,3642.7080,N,-12211.2027,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200145.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.43 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200146.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200146.18,3642.7075,N,-12211.2028,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200147.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200147.18,3642.7070,N,-12211.2029,W,1,03,00.5,003.0,M,-99.9,M,,*40 : NMEA Update: $GPGGA,200148.18,3642.7065,N,-12211.2031,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200148.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.57 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3379.998454 : TerrainNav update at dvl time = 3379.998454 : _navData-> (x,y) = (4063207.07, 572635.44) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3380.00 : 50.00 : Estimated East Bias at time = 3380.00 : 50.00 : Estimated Depth Bias at time = 3380.00 : 0.00 : NMEA Update: $GPGGA,200149.18,3642.7060,N,-12211.2032,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200149.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063257.07 : 572685.44 : LayeredControl _resolvedCommand - vertMode=2 vert=877.63 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200150.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200150.18,3642.7056,N,-12211.2033,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200151.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200151.18,3642.7051,N,-12211.2034,W,1,03,00.5,003.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=877.68 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200152.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200152.18,3642.7046,N,-12211.2036,W,1,03,00.5,003.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=877.75 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200153.18,3642.7041,N,-12211.2037,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200153.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200154.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.78 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200154.18,3642.7036,N,-12211.2038,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200155.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200155.18,3642.7031,N,-12211.2039,W,1,03,00.5,003.1,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200156.00,,,,,0,00,,,M,,M,,*48 : NMEA Update: $GPGGA,200156.18,3642.7026,N,-12211.2040,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.87 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200157.18,3642.7021,N,-12211.2042,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200157.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200158.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200158.18,3642.7016,N,-12211.2043,W,1,03,00.5,003.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=877.98 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3389.997769 : TerrainNav update at dvl time = 3389.997769 : _navData-> (x,y) = (4063198.04, 572633.68) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200159.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200159.18,3642.7011,N,-12211.2044,W,1,03,00.5,003.1,M,-99.9,M,,*42 : Estimated North Bias at time = 3390.00 : 50.00 : Estimated East Bias at time = 3390.00 : 50.00 : Estimated Depth Bias at time = 3390.00 : 0.00 : Estimated northing and easting = 4063248.04 : 572683.68 : LayeredControl _resolvedCommand - vertMode=2 vert=878.00 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200200.18,3642.7006,N,-12211.2045,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200200.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.47 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200201.18,3642.7001,N,-12211.2047,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200201.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200202.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200202.18,3642.6996,N,-12211.2048,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=878.45 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200203.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200203.18,3642.6992,N,-12211.2049,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=878.16 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200204.18,3642.6987,N,-12211.2051,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200204.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200205.18,3642.6982,N,-12211.2052,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200205.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.22 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200206.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200206.18,3642.6977,N,-12211.2053,W,1,03,00.5,003.1,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=878.25 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200207.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200207.18,3642.6972,N,-12211.2054,W,1,03,00.5,003.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=878.37 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200208.18,3642.6967,N,-12211.2055,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200208.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3399.997084 : TerrainNav update at dvl time = 3399.997084 : _navData-> (x,y) = (4063188.84, 572631.96) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3400.00 : 50.00 : Estimated East Bias at time = 3400.00 : 50.00 : Estimated Depth Bias at time = 3400.00 : 0.00 : NMEA Update: $GPGGA,200209.18,3642.6962,N,-12211.2056,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200209.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063238.84 : 572681.96 : LayeredControl _resolvedCommand - vertMode=2 vert=878.41 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200210.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200210.18,3642.6957,N,-12211.2058,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=878.47 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200211.00,,,,,0,00,,,M,,M,,*48 : NMEA Update: $GPGGA,200211.18,3642.6952,N,-12211.2059,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200212.18,3642.6947,N,-12211.2060,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200212.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.46 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200213.18,3642.6942,N,-12211.2061,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200213.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=878.46 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200214.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200214.18,3642.6937,N,-12211.2062,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=878.63 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200215.18,3642.6932,N,-12211.2063,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200215.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200216.18,3642.6928,N,-12211.2064,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200216.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.61 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200217.18,3642.6923,N,-12211.2065,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200217.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.75 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200218.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200218.18,3642.6918,N,-12211.2066,W,1,03,00.5,003.2,M,-99.9,M,,*46 : TerrainNav update at nav time = 3409.996399 : TerrainNav update at dvl time = 3409.996399 : _navData-> (x,y) = (4063179.81, 572630.48) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3410.00 : 50.00 : NMEA Update: $GPGGA,200219.18,3642.6913,N,-12211.2067,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200219.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 3410.00 : 50.00 : Estimated Depth Bias at time = 3410.00 : 0.00 : Estimated northing and easting = 4063229.81 : 572680.48 : LayeredControl _resolvedCommand - vertMode=2 vert=878.81 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200220.18,3642.6908,N,-12211.2068,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200220.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=878.88 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200221.18,3642.6903,N,-12211.2069,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200221.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200222.00,,,,,0,00,,,M,,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=878.93 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200222.18,3642.6898,N,-12211.2070,W,1,03,00.5,003.2,M,-99.9,M,,*41 : NMEA Update: $GPGGA,200223.18,3642.6893,N,-12211.2071,W,1,03,00.5,003.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200223.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.99 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200224.18,3642.6889,N,-12211.2072,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200224.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.05 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200225.18,3642.6884,N,-12211.2073,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200225.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200226.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200226.18,3642.6879,N,-12211.2074,W,1,03,00.5,003.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=879.10 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200227.18,3642.6874,N,-12211.2075,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200227.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.19 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200228.18,3642.6869,N,-12211.2076,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200228.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3419.995714 : TerrainNav update at dvl time = 3419.995714 : _navData-> (x,y) = (4063170.86, 572629.08) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3420.00 : 50.00 : LayeredControl _resolvedCommand - vertMode=2 vert=879.29 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200229.18,3642.6865,N,-12211.2077,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200229.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 3420.00 : 50.00 : Estimated Depth Bias at time = 3420.00 : 0.00 : Estimated northing and easting = 4063220.86 : 572679.08 : AshtechGps::processRecord() - $GPGGA,200230.00,,,,,0,00,,,M,,M,,*4B : NMEA Update: $GPGGA,200230.18,3642.6860,N,-12211.2078,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.26 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200231.18,3642.6855,N,-12211.2079,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200231.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.46 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200232.18,3642.6850,N,-12211.2080,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200232.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200233.18,3642.6845,N,-12211.2081,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200233.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.54 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200234.00,,,,,0,00,,,M,,M,,*4F : NMEA Update: $GPGGA,200234.18,3642.6840,N,-12211.2082,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.56 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : WaypointHoming has set the state to finished. : WaypointHoming (4063263.8, 572645.6), reached at t = 3473.39 (wplog) : Vehicle Position error is (98.6, 17.4) : The distance to the waypoint is -100.1. : LayeredControl::execute() -- (t = 3473.392056) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 3473.39 (wplog) The current location (N,E) = 4063165.2 , 572628.1 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 189.3 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 3473.4 with dtw = 10000.00 : WaypointHoming has set the state to finished. : WaypointHoming (4063162.6, 572627.7), reached at t = 3473.40 (wplog) : Vehicle Position error is (-2.6, -0.4) : The distance to the waypoint is 2.7. : LayeredControl::execute() -- (t = 3473.402056) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 3473.41. : LayeredControl::execute() -- (t = 3473.412055) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 3473.41 (wplog) The current location (N,E) = 4063165.2 , 572628.1 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 189.3 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 3473.4 with dtw = 10000.00 : LayeredControl::execute() -- (t = 3473.422054) Behavior waypoint_homing:-1 has changed to state Active : NMEA Update: $GPGGA,200235.18,3642.6835,N,-12211.2083,W,1,03,00.5,003.2,M,-99.9,M,,*4c : CameraDriver::readData - starting a 40 photo sequence. : AshtechGps::processRecord() - $GPGGA,200235.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.60 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200236.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200237.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200237.38,3642.6824,N,-12211.2085,W,1,03,00.5,003.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=879.65 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200238.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200238.38,3642.6819,N,-12211.2087,W,1,03,00.5,003.2,M,-99.9,M,,*49 : TerrainNav update at nav time = 3429.995029 : TerrainNav update at dvl time = 3429.995029 : _navData-> (x,y) = (4063161.76, 572627.56) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=879.77 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200239.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3430.00 : 50.00 : Estimated East Bias at time = 3430.00 : 50.00 : Estimated Depth Bias at time = 3430.00 : 0.00 : Estimated northing and easting = 4063211.76 : 572677.56 : NMEA Update: $GPGGA,200239.38,3642.6815,N,-12211.2088,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200240.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.81 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200240.38,3642.6809,N,-12211.2089,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200241.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200241.38,3642.6804,N,-12211.2090,W,1,03,00.5,003.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=879.87 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200242.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200242.19,3642.6800,N,-12211.2090,W,1,03,00.5,003.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=879.95 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200243.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200243.19,3642.6796,N,-12211.2091,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200244.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200244.19,3642.6790,N,-12211.2092,W,1,03,00.5,003.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=880.00 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200245.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200245.19,3642.6786,N,-12211.2093,W,1,03,00.5,003.3,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=880.06 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200246.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200246.19,3642.6781,N,-12211.2094,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200247.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200247.19,3642.6776,N,-12211.2095,W,1,03,00.5,003.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=880.18 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200248.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200248.19,3642.6771,N,-12211.2097,W,1,03,00.5,003.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=880.24 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3439.994344 : TerrainNav update at dvl time = 3439.994344 : _navData-> (x,y) = (4063152.64, 572626.14) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200249.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200249.19,3642.6766,N,-12211.2098,W,1,03,00.5,003.3,M,-99.9,M,,*44 : Estimated North Bias at time = 3439.99 : 50.00 : Estimated East Bias at time = 3439.99 : 50.00 : Estimated Depth Bias at time = 3439.99 : 0.00 : Estimated northing and easting = 4063202.64 : 572676.14 : AshtechGps::processRecord() - $GPGGA,200250.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.36 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200250.19,3642.6761,N,-12211.2098,W,1,03,00.5,003.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200251.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200251.19,3642.6757,N,-12211.2099,W,1,03,00.5,003.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=880.32 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200252.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200252.19,3642.6752,N,-12211.2100,W,1,03,00.5,003.3,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=880.40 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200253.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200253.19,3642.6747,N,-12211.2101,W,1,03,00.5,003.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200254.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200254.19,3642.6742,N,-12211.2102,W,1,03,00.5,003.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=880.52 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200255.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200255.19,3642.6737,N,-12211.2103,W,1,03,00.5,003.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=880.57 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200256.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200256.19,3642.6732,N,-12211.2104,W,1,03,00.5,003.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200257.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.59 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200257.19,3642.6727,N,-12211.2105,W,1,03,00.5,003.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200258.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200258.19,3642.6722,N,-12211.2106,W,1,03,00.5,003.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=880.62 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3449.993659 : TerrainNav update at dvl time = 3449.993659 : _navData-> (x,y) = (4063143.54, 572624.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200259.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200259.19,3642.6717,N,-12211.2107,W,1,03,00.5,003.4,M,-99.9,M,,*43 : Estimated North Bias at time = 3449.99 : 50.00 : Estimated East Bias at time = 3449.99 : 50.00 : Estimated Depth Bias at time = 3449.99 : 0.00 : Estimated northing and easting = 4063193.54 : 572674.83 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=880.82 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200300.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200300.19,3642.6712,N,-12211.2108,W,1,03,00.5,003.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200301.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200301.19,3642.6707,N,-12211.2109,W,1,03,00.5,003.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=880.84 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200302.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200302.19,3642.6702,N,-12211.2110,W,1,03,00.5,003.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=880.96 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200303.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200303.19,3642.6698,N,-12211.2111,W,1,03,00.5,003.4,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200304.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.01 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200304.19,3642.6693,N,-12211.2112,W,1,03,00.5,003.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200305.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200305.19,3642.6688,N,-12211.2113,W,1,03,00.5,003.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=881.06 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200306.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200306.19,3642.6683,N,-12211.2114,W,1,03,00.5,003.4,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=881.15 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200307.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200307.19,3642.6679,N,-12211.2115,W,1,03,00.5,003.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200308.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200308.19,3642.6674,N,-12211.2116,W,1,03,00.5,003.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=881.26 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3460.002974 : TerrainNav update at dvl time = 3460.002974 : _navData-> (x,y) = (4063134.65, 572623.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200309.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200309.19,3642.6669,N,-12211.2118,W,1,03,00.5,003.4,M,-99.9,M,,*41 : Estimated North Bias at time = 3460.00 : 50.00 : Estimated East Bias at time = 3460.00 : 50.00 : Estimated Depth Bias at time = 3460.00 : 0.00 : Estimated northing and easting = 4063184.65 : 572673.30 : LayeredControl _resolvedCommand - vertMode=2 vert=881.37 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200310.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200310.19,3642.6664,N,-12211.2119,W,1,03,00.5,003.4,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200311.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.44 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200311.19,3642.6659,N,-12211.2120,W,1,03,00.5,003.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200312.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200312.19,3642.6655,N,-12211.2121,W,1,03,00.5,003.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=881.51 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200313.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200313.19,3642.6650,N,-12211.2122,W,1,03,00.5,003.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=881.63 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200314.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200314.19,3642.6645,N,-12211.2123,W,1,03,00.5,003.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200315.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200315.19,3642.6640,N,-12211.2124,W,1,03,00.5,003.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=881.70 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200316.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200316.19,3642.6635,N,-12211.2125,W,1,03,00.5,003.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=881.75 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200317.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200317.19,3642.6630,N,-12211.2126,W,1,03,00.5,003.4,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200318.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.78 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200318.19,3642.6625,N,-12211.2127,W,1,03,00.5,003.4,M,-99.9,M,,*45 : TerrainNav update at nav time = 3470.002289 : TerrainNav update at dvl time = 3470.002289 : _navData-> (x,y) = (4063125.60, 572621.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200319.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200319.19,3642.6620,N,-12211.2128,W,1,03,00.5,003.4,M,-99.9,M,,*4e : Estimated North Bias at time = 3470.00 : 50.00 : Estimated East Bias at time = 3470.00 : 50.00 : Estimated Depth Bias at time = 3470.00 : 0.00 : Estimated northing and easting = 4063175.60 : 572671.80 : LayeredControl _resolvedCommand - vertMode=2 vert=881.79 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200320.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200320.19,3642.6615,N,-12211.2129,W,1,03,00.5,003.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=881.93 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200321.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200321.19,3642.6611,N,-12211.2130,W,1,03,00.5,003.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200322.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200322.19,3642.6606,N,-12211.2132,W,1,03,00.5,003.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=882.07 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200323.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200323.19,3642.6601,N,-12211.2132,W,1,03,00.5,003.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=882.14 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200324.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200324.19,3642.6596,N,-12211.2133,W,1,03,00.5,003.4,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200325.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.16 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200325.19,3642.6591,N,-12211.2135,W,1,03,00.5,003.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200326.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200326.19,3642.6586,N,-12211.2136,W,1,03,00.5,003.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=882.25 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200327.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200327.19,3642.6582,N,-12211.2137,W,1,03,00.5,003.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=882.37 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200328.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200328.19,3642.6577,N,-12211.2138,W,1,03,00.5,003.4,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 3480.001604 : TerrainNav update at dvl time = 3480.001604 : _navData-> (x,y) = (4063116.65, 572620.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200329.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200329.19,3642.6572,N,-12211.2139,W,1,03,00.5,003.4,M,-99.9,M,,*49 : Estimated North Bias at time = 3480.00 : 50.00 : Estimated East Bias at time = 3480.00 : 50.00 : Estimated Depth Bias at time = 3480.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=882.49 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : Estimated northing and easting = 4063166.65 : 572670.31 : AshtechGps::processRecord() - $GPGGA,200330.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200330.19,3642.6567,N,-12211.2140,W,1,03,00.5,003.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=882.57 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200331.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200331.19,3642.6562,N,-12211.2141,W,1,03,00.5,003.4,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200332.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.63 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200332.19,3642.6557,N,-12211.2142,W,1,03,00.5,003.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200333.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200333.19,3642.6552,N,-12211.2143,W,1,03,00.5,003.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=882.59 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200334.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200334.19,3642.6548,N,-12211.2144,W,1,03,00.5,003.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=882.84 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200335.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200335.19,3642.6542,N,-12211.2145,W,1,03,00.5,003.4,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200336.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200336.19,3642.6538,N,-12211.2146,W,1,03,00.5,003.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=882.89 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200337.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200337.19,3642.6533,N,-12211.2147,W,1,03,00.5,003.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=882.88 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200338.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200338.19,3642.6528,N,-12211.2148,W,1,03,00.5,003.4,M,-99.9,M,,*40 : TerrainNav update at nav time = 3490.000919 : TerrainNav update at dvl time = 3490.000919 : _navData-> (x,y) = (4063107.62, 572618.80) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200339.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.07 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200339.19,3642.6523,N,-12211.2149,W,1,03,00.5,003.4,M,-99.9,M,,*4b : Estimated North Bias at time = 3490.00 : 50.00 : Estimated East Bias at time = 3490.00 : 50.00 : Estimated Depth Bias at time = 3490.00 : 0.00 : Estimated northing and easting = 4063157.62 : 572668.80 : AshtechGps::processRecord() - $GPGGA,200340.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200340.19,3642.6518,N,-12211.2151,W,1,03,00.5,003.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=883.18 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200341.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200341.19,3642.6514,N,-12211.2152,W,1,03,00.5,003.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=883.22 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200342.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200342.19,3642.6509,N,-12211.2153,W,1,03,00.5,003.4,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200343.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200343.19,3642.6504,N,-12211.2154,W,1,03,00.5,003.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=883.70 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200344.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200344.18,3642.6499,N,-12211.2155,W,1,03,00.5,003.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=883.27 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200345.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200345.18,3642.6494,N,-12211.2156,W,1,03,00.5,003.3,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200346.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.45 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200346.18,3642.6489,N,-12211.2157,W,1,03,00.5,003.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200347.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200347.18,3642.6485,N,-12211.2158,W,1,03,00.5,003.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=883.41 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200348.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200348.18,3642.6480,N,-12211.2160,W,1,03,00.5,003.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 3500.000234 : TerrainNav update at dvl time = 3500.000234 : _navData-> (x,y) = (4063098.69, 572617.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=883.63 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200349.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200349.18,3642.6475,N,-12211.2161,W,1,03,00.5,003.3,M,-99.9,M,,*42 : Estimated North Bias at time = 3500.00 : 50.00 : Estimated East Bias at time = 3500.00 : 50.00 : Estimated Depth Bias at time = 3500.00 : 0.00 : Estimated northing and easting = 4063148.69 : 572667.19 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200350.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200350.18,3642.6470,N,-12211.2162,W,1,03,00.5,003.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=883.71 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200351.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200351.18,3642.6465,N,-12211.2163,W,1,03,00.5,003.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=884.54 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200352.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200352.18,3642.6461,N,-12211.2164,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200353.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.85 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200353.18,3642.6456,N,-12211.2165,W,1,03,00.5,003.3,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200354.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200354.18,3642.6451,N,-12211.2166,W,1,03,00.5,003.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=883.99 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200355.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200355.18,3642.6446,N,-12211.2167,W,1,03,00.5,003.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=883.86 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200356.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200356.18,3642.6441,N,-12211.2168,W,1,03,00.5,003.3,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200357.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200357.18,3642.6437,N,-12211.2169,W,1,03,00.5,003.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=884.10 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200358.18,3642.6432,N,-12211.2170,W,1,03,00.5,003.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200358.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.14 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3509.999549 : TerrainNav update at dvl time = 3509.999549 : _navData-> (x,y) = (4063089.79, 572615.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200359.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200359.18,3642.6427,N,-12211.2171,W,1,03,00.5,003.3,M,-99.9,M,,*45 : Estimated North Bias at time = 3510.00 : 50.00 : Estimated East Bias at time = 3510.00 : 50.00 : Estimated Depth Bias at time = 3510.00 : 0.00 : Estimated northing and easting = 4063139.79 : 572665.69 : AshtechGps::processRecord() - $GPGGA,200400.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.22 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200400.18,3642.6422,N,-12211.2172,W,1,03,00.5,003.3,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200401.00,,,,,0,00,,,M,,M,,*4F : NMEA Update: $GPGGA,200401.18,3642.6417,N,-12211.2173,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.34 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200402.18,3642.6412,N,-12211.2174,W,1,03,00.5,003.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200402.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.42 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200403.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200403.18,3642.6408,N,-12211.2175,W,1,03,00.5,003.3,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200404.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200404.18,3642.6403,N,-12211.2176,W,1,03,00.5,003.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=884.80 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200405.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200405.18,3642.6398,N,-12211.2177,W,1,03,00.5,003.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=884.52 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200406.18,3642.6393,N,-12211.2178,W,1,03,00.5,003.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200406.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200407.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.12 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200407.18,3642.6388,N,-12211.2179,W,1,03,00.5,003.3,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200408.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200408.18,3642.6383,N,-12211.2180,W,1,03,00.5,003.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=884.69 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3519.998863 : TerrainNav update at dvl time = 3519.998863 : _navData-> (x,y) = (4063080.85, 572614.34) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3520.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,200409.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200409.18,3642.6379,N,-12211.2181,W,1,03,00.5,003.3,M,-99.9,M,,*44 : Estimated East Bias at time = 3520.00 : 50.00 : Estimated Depth Bias at time = 3520.00 : 0.00 : Estimated northing and easting = 4063130.85 : 572664.34 : LayeredControl _resolvedCommand - vertMode=2 vert=884.84 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200410.18,3642.6374,N,-12211.2182,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200410.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200411.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200411.18,3642.6369,N,-12211.2183,W,1,03,00.5,003.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=884.87 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200412.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200412.18,3642.6364,N,-12211.2184,W,1,03,00.5,003.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=884.97 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200413.18,3642.6359,N,-12211.2185,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200413.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.11 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200414.18,3642.6354,N,-12211.2185,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200414.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200415.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200415.18,3642.6349,N,-12211.2186,W,1,03,00.5,003.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=885.17 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200416.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200416.18,3642.6345,N,-12211.2187,W,1,03,00.5,003.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=885.25 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200417.00,,,,,0,00,,,M,,M,,*48 : NMEA Update: $GPGGA,200417.18,3642.6340,N,-12211.2188,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200418.18,3642.6335,N,-12211.2189,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200418.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=885.32 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3529.998178 : TerrainNav update at dvl time = 3529.998178 : _navData-> (x,y) = (4063071.92, 572613.06) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3530.00 : 50.00 : Estimated East Bias at time = 3530.00 : 50.00 : Estimated Depth Bias at time = 3530.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200419.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200419.18,3642.6330,N,-12211.2190,W,1,03,00.5,003.2,M,-99.9,M,,*49 : Estimated northing and easting = 4063121.92 : 572663.06 : LayeredControl _resolvedCommand - vertMode=2 vert=885.73 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200420.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200420.18,3642.6326,N,-12211.2191,W,1,03,00.5,003.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=885.47 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200421.00,,,,,0,00,,,M,,M,,*4D : NMEA Update: $GPGGA,200421.18,3642.6321,N,-12211.2192,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200422.18,3642.6316,N,-12211.2193,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200422.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.50 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200423.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200423.18,3642.6311,N,-12211.2194,W,1,03,00.5,003.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=885.59 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200424.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200424.18,3642.6307,N,-12211.2194,W,1,03,00.5,003.1,M,-99.9,M,,*44 : NMEA Update: $GPGGA,200425.18,3642.6302,N,-12211.2195,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200425.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.65 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200426.18,3642.6297,N,-12211.2196,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200426.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.79 horzlMode=3 horz=3.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200427.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200427.18,3642.6292,N,-12211.2197,W,1,03,00.5,003.2,M,-99.9,M,,*4a : WaypointHoming has set the state to finished. : WaypointHoming (4063162.6, 572627.7), reached at t = 3586.39 (wplog) : Vehicle Position error is (98.8, 15.9) : The distance to the waypoint is -100.1. : LayeredControl::execute() -- (t = 3586.394315) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 3586.40 (wplog) The current location (N,E) = 4063063.8 , 572611.8 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 9.1 Degrees. : LayeredControl::execute() -- (t = 3586.404314) Behavior waypoint_homing:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,200428.00,,,,,0,00,,,M,,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=885.69 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200428.18,3642.6287,N,-12211.2199,W,1,03,00.5,003.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 3539.997494 : TerrainNav update at dvl time = 3539.997494 : _navData-> (x,y) = (4063063.03, 572611.69) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200429.18,3642.6282,N,-12211.2200,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200429.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3540.00 : 50.00 : Estimated East Bias at time = 3540.00 : 50.00 : Estimated Depth Bias at time = 3540.00 : 0.00 : Estimated northing and easting = 4063113.03 : 572661.69 : LayeredControl _resolvedCommand - vertMode=2 vert=885.97 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200430.18,3642.6278,N,-12211.2201,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200430.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.97 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200431.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200431.18,3642.6273,N,-12211.2202,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200432.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200432.18,3642.6268,N,-12211.2203,W,1,03,00.5,003.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=886.08 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200433.18,3642.6263,N,-12211.2205,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200433.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.60 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200434.18,3642.6259,N,-12211.2207,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200434.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200435.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.25 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200435.18,3642.6254,N,-12211.2209,W,1,03,00.5,003.1,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200436.00,,,,,0,00,,,M,,M,,*4B : NMEA Update: $GPGGA,200436.18,3642.6249,N,-12211.2211,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.30 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200437.18,3642.6245,N,-12211.2213,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200437.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.76 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200438.18,3642.6241,N,-12211.2216,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200438.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3549.996809 : TerrainNav update at dvl time = 3549.996809 : _navData-> (x,y) = (4063054.54, 572608.95) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3550.00 : 50.00 : Estimated East Bias at time = 3550.00 : 50.00 : Estimated Depth Bias at time = 3550.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,200439.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200439.18,3642.6237,N,-12211.2219,W,1,03,00.5,003.2,M,-99.9,M,,*4f : Estimated northing and easting = 4063104.54 : 572658.95 : LayeredControl _resolvedCommand - vertMode=2 vert=886.51 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200440.00,,,,,0,00,,,M,,M,,*4A : NMEA Update: $GPGGA,200440.18,3642.6233,N,-12211.2223,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.46 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200441.18,3642.6229,N,-12211.2227,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200441.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.59 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200442.18,3642.6226,N,-12211.2231,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200442.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,200443.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200443.18,3642.6223,N,-12211.2235,W,1,03,00.5,003.3,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=886.73 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200444.18,3642.6221,N,-12211.2239,W,1,03,00.5,003.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200444.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.74 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200445.18,3642.6218,N,-12211.2244,W,1,03,00.5,003.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200445.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200446.18,3642.6216,N,-12211.2248,W,1,03,00.5,003.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200446.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.83 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200447.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200447.18,3642.6214,N,-12211.2253,W,1,03,00.5,003.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=886.91 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200448.18,3642.6212,N,-12211.2258,W,1,03,00.5,003.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200448.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3559.996124 : TerrainNav update at dvl time = 3559.996124 : _navData-> (x,y) = (4063049.50, 572602.51) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3560.00 : 50.00 : Estimated East Bias at time = 3560.00 : 50.00 : LayeredControl _resolvedCommand - vertMode=2 vert=886.90 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200449.18,3642.6211,N,-12211.2264,W,1,03,00.5,003.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200449.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 3560.00 : 0.00 : Estimated northing and easting = 4063099.50 : 572652.51 : NMEA Update: $GPGGA,200450.18,3642.6210,N,-12211.2269,W,1,03,00.5,003.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200450.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.91 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200451.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200451.18,3642.6209,N,-12211.2274,W,1,03,00.5,003.3,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=887.39 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200452.18,3642.6209,N,-12211.2279,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200452.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200453.18,3642.6209,N,-12211.2284,W,1,03,00.5,003.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200453.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 3611.8 with dtw = 116.66 : LayeredControl _resolvedCommand - vertMode=2 vert=886.93 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200454.18,3642.6209,N,-12211.2290,W,1,03,00.5,003.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200454.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.00 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200455.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200455.18,3642.6210,N,-12211.2295,W,1,03,00.5,003.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=887.01 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200456.18,3642.6211,N,-12211.2300,W,1,03,00.5,003.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200456.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200457.18,3642.6212,N,-12211.2305,W,1,03,00.5,003.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200457.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.08 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200458.18,3642.6214,N,-12211.2309,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200458.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3569.995439 : TerrainNav update at dvl time = 3569.995439 : _navData-> (x,y) = (4063050.06, 572595.02) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=887.09 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200459.18,3642.6216,N,-12211.2314,W,1,03,00.5,003.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200459.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3570.00 : 50.00 : Estimated East Bias at time = 3570.00 : 50.00 : Estimated Depth Bias at time = 3570.00 : 0.00 : Estimated northing and easting = 4063100.06 : 572645.02 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200500.18,3642.6218,N,-12211.2318,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200500.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.91 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200501.18,3642.6220,N,-12211.2323,W,1,03,00.5,003.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200501.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.07 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200502.18,3642.6222,N,-12211.2326,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200502.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.07 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200503.18,3642.6225,N,-12211.2330,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200503.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200504.18,3642.6228,N,-12211.2334,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200504.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.02 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200505.18,3642.6231,N,-12211.2337,W,1,03,00.5,003.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200505.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.03 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200506.18,3642.6234,N,-12211.2340,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200506.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3624.79 Seconds. : The vehicle position is (4063053.8, 572590.7) : WaypointHoming has set the state to finished. : WaypointHoming (4063162.6, 572627.7), reached at t = 3624.79 (wplog) : Vehicle Position error is (108.8, 37.0) : The distance to the waypoint is -113.6. : LayeredControl::execute() -- (t = 3624.801684) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 3624.80. : LayeredControl::execute() -- (t = 3624.801684) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 3624.80 (wplog) The current location (N,E) = 4063053.8 , 572590.7 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 18.8 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 3624.8 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 3624.81 Seconds. : The vehicle position is (4063053.8, 572590.7) : WaypointHoming has set the state to finished. : WaypointHoming (4063162.6, 572627.7), reached at t = 3624.81 (wplog) : Vehicle Position error is (108.8, 37.0) : The distance to the waypoint is -113.6. : LayeredControl::execute() -- (t = 3624.821683) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 3624.82 (wplog) The current location (N,E) = 4063053.8 , 572590.7 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 18.8 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 3624.8 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 3624.82 Seconds. : The vehicle position is (4063053.8, 572590.7) : LayeredControl::execute() -- (t = 3624.831682) Behavior waypoint_homing:-1 has changed to state Active : CameraDriver::readData - starting a 40 photo sequence. : AshtechGps::processRecord() - $GPGGA,200507.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200508.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200508.79,3642.6244,N,-12211.2347,W,1,03,00.5,003.1,M,-99.9,M,,*46 : TerrainNav update at nav time = 3579.994754 : TerrainNav update at dvl time = 3579.994754 : _navData-> (x,y) = (4063055.34, 572589.82) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3579.99 : 50.00 : Estimated East Bias at time = 3579.99 : 50.00 : Estimated Depth Bias at time = 3579.99 : 0.00 : Estimated northing and easting = 4063105.34 : 572639.82 : AshtechGps::processRecord() - $GPGGA,200509.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200509.79,3642.6248,N,-12211.2349,W,1,03,00.5,003.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=887.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200510.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200510.79,3642.6252,N,-12211.2350,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200511.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200511.79,3642.6255,N,-12211.2352,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200512.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200512.79,3642.6259,N,-12211.2352,W,1,03,00.5,003.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=886.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200513.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200513.79,3642.6263,N,-12211.2353,W,1,03,00.5,002.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200514.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=887.60 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200514.79,3642.6267,N,-12211.2354,W,1,03,00.5,002.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200515.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200515.79,3642.6271,N,-12211.2355,W,1,03,00.5,002.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200516.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200516.79,3642.6275,N,-12211.2354,W,1,03,00.5,002.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200517.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200517.79,3642.6279,N,-12211.2354,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200518.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200518.79,3642.6283,N,-12211.2352,W,1,03,00.5,002.6,M,-99.9,M,,*4e : TerrainNav update at nav time = 3589.994069 : TerrainNav update at dvl time = 3589.994069 : _navData-> (x,y) = (4063062.61, 572588.91) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3589.99 : 50.00 : Estimated East Bias at time = 3589.99 : 50.00 : Estimated Depth Bias at time = 3589.99 : 0.00 : Estimated northing and easting = 4063112.61 : 572638.91 : AshtechGps::processRecord() - $GPGGA,200519.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200519.79,3642.6287,N,-12211.2351,W,1,03,00.5,002.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=886.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200520.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200520.79,3642.6291,N,-12211.2349,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200521.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200521.79,3642.6294,N,-12211.2347,W,1,03,00.5,002.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200522.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200522.79,3642.6298,N,-12211.2345,W,1,03,00.5,002.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200523.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200523.79,3642.6301,N,-12211.2342,W,1,03,00.5,002.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200524.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200524.79,3642.6305,N,-12211.2339,W,1,03,00.5,002.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200525.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200525.79,3642.6307,N,-12211.2336,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200526.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200526.79,3642.6310,N,-12211.2332,W,1,03,00.5,002.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=886.38 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200527.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200527.79,3642.6313,N,-12211.2329,W,1,03,00.5,002.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200528.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.34 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 3647.00 Seconds. : The vehicle position is is (4063068.6, 572592.8) : NMEA Update: $GPGGA,200528.79,3642.6316,N,-12211.2325,W,1,03,00.5,002.3,M,-99.9,M,,*45 : TerrainNav update at nav time = 3599.993384 : TerrainNav update at dvl time = 3599.993384 : _navData-> (x,y) = (4063068.71, 572592.93) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3599.99 : 50.00 : Estimated East Bias at time = 3599.99 : 50.00 : Estimated Depth Bias at time = 3599.99 : 0.00 : AshtechGps::processRecord() - $GPGGA,200529.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063118.71 : 572642.93 : LayeredControl _resolvedCommand - vertMode=2 vert=886.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200529.79,3642.6319,N,-12211.2321,W,1,03,00.5,002.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200530.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200530.79,3642.6321,N,-12211.2317,W,1,03,00.5,002.3,M,-99.9,M,,*49 : WaypointHoming: The Usbl has aquired the transponder at t = 3649.40 Seconds. : The vehicle position is (4063069.9, 572594.2) : AshtechGps::processRecord() - $GPGGA,200531.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200531.79,3642.6324,N,-12211.2313,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200532.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200532.79,3642.6327,N,-12211.2309,W,1,03,00.5,002.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200533.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200533.79,3642.6330,N,-12211.2305,W,1,03,00.5,002.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=886.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200534.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200534.79,3642.6333,N,-12211.2301,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200535.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.04 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200535.79,3642.6336,N,-12211.2298,W,1,03,00.5,002.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200536.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200536.79,3642.6339,N,-12211.2294,W,1,03,00.5,002.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200537.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200537.79,3642.6342,N,-12211.2290,W,1,03,00.5,002.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200538.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200538.79,3642.6346,N,-12211.2287,W,1,03,00.5,001.9,M,-99.9,M,,*41 : TerrainNav update at nav time = 3610.002698 : TerrainNav update at dvl time = 3610.002698 : _navData-> (x,y) = (4063074.26, 572598.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3610.00 : 50.00 : Estimated East Bias at time = 3610.00 : 50.00 : Estimated Depth Bias at time = 3610.00 : 0.00 : Estimated northing and easting = 4063124.26 : 572648.56 : AshtechGps::processRecord() - $GPGGA,200539.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=886.05 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200539.79,3642.6349,N,-12211.2284,W,1,03,00.5,001.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200540.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200540.79,3642.6353,N,-12211.2281,W,1,03,00.5,001.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=885.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200541.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200541.79,3642.6357,N,-12211.2278,W,1,03,00.5,001.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200542.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200542.79,3642.6360,N,-12211.2275,W,1,03,00.5,001.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200543.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200543.79,3642.6365,N,-12211.2273,W,1,03,00.5,001.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200544.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200544.79,3642.6369,N,-12211.2272,W,1,03,00.5,001.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200545.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200545.79,3642.6372,N,-12211.2271,W,1,03,00.5,001.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200546.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.74 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200546.79,3642.6376,N,-12211.2271,W,1,03,00.5,001.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200547.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200547.79,3642.6380,N,-12211.2271,W,1,03,00.5,001.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=885.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200548.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200548.79,3642.6384,N,-12211.2271,W,1,03,00.5,001.9,M,-99.9,M,,*41 : TerrainNav update at nav time = 3620.002013 : TerrainNav update at dvl time = 3620.002013 : _navData-> (x,y) = (4063081.46, 572600.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200549.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3620.00 : 50.00 : Estimated East Bias at time = 3620.00 : 50.00 : Estimated Depth Bias at time = 3620.00 : 0.00 : Estimated northing and easting = 4063131.46 : 572650.80 : LayeredControl _resolvedCommand - vertMode=2 vert=885.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200549.79,3642.6388,N,-12211.2272,W,1,03,00.5,001.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200550.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200550.79,3642.6392,N,-12211.2274,W,1,03,00.5,001.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200551.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200551.79,3642.6396,N,-12211.2275,W,1,03,00.5,001.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200552.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 3671.20 Seconds. : The vehicle position is is (4063084.1, 572599.9) : NMEA Update: $GPGGA,200552.79,3642.6399,N,-12211.2277,W,1,03,00.5,001.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200553.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.17 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200553.79,3642.6402,N,-12211.2280,W,1,03,00.5,001.9,M,-99.9,M,,*4c : WaypointHoming: The Usbl has aquired the transponder at t = 3672.40 Seconds. : The vehicle position is (4063084.8, 572599.5) : AshtechGps::processRecord() - $GPGGA,200554.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200554.79,3642.6405,N,-12211.2282,W,1,03,00.5,002.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=885.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200555.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200555.79,3642.6407,N,-12211.2285,W,1,03,00.5,001.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200556.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200556.79,3642.6410,N,-12211.2288,W,1,03,00.5,001.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200557.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 3675.80 Seconds. : The vehicle position is is (4063086.6, 572598.1) : LayeredControl _resolvedCommand - vertMode=2 vert=885.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200557.79,3642.6413,N,-12211.2291,W,1,03,00.5,002.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200558.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200558.79,3642.6416,N,-12211.2294,W,1,03,00.5,002.0,M,-99.9,M,,*4d : TerrainNav update at nav time = 3630.001328 : TerrainNav update at dvl time = 3630.001328 : _navData-> (x,y) = (4063087.24, 572597.46) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3630.00 : 50.00 : Estimated East Bias at time = 3630.00 : 50.00 : Estimated Depth Bias at time = 3630.00 : 0.00 : Estimated northing and easting = 4063137.24 : 572647.46 : AshtechGps::processRecord() - $GPGGA,200559.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200559.79,3642.6419,N,-12211.2297,W,1,03,00.5,002.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200600.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200600.79,3642.6422,N,-12211.2301,W,1,03,00.5,001.9,M,-99.9,M,,*43 : WaypointHoming: The Usbl has aquired the transponder at t = 3679.40 Seconds. : The vehicle position is (4063088.5, 572596.3) : AshtechGps::processRecord() - $GPGGA,200601.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200601.79,3642.6425,N,-12211.2304,W,1,03,00.5,001.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=885.05 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200602.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200602.79,3642.6428,N,-12211.2307,W,1,03,00.5,001.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200603.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200603.79,3642.6431,N,-12211.2310,W,1,03,00.5,001.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200604.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200604.79,3642.6435,N,-12211.2314,W,1,03,00.5,001.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200605.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200605.79,3642.6439,N,-12211.2317,W,1,03,00.5,001.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200606.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200606.79,3642.6443,N,-12211.2321,W,1,03,00.5,001.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200607.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.07 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200607.79,3642.6446,N,-12211.2324,W,1,03,00.5,001.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200608.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 3686.60 Seconds. : The vehicle position is is (4063093.1, 572592.7) : NMEA Update: $GPGGA,200608.79,3642.6450,N,-12211.2327,W,1,03,00.5,001.9,M,-99.9,M,,*4a : TerrainNav update at nav time = 3640.000643 : TerrainNav update at dvl time = 3640.000643 : _navData-> (x,y) = (4063093.52, 572592.45) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=885.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200609.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3640.00 : 50.00 : Estimated East Bias at time = 3640.00 : 50.00 : Estimated Depth Bias at time = 3640.00 : 0.00 : Estimated northing and easting = 4063143.52 : 572642.45 : NMEA Update: $GPGGA,200609.78,3642.6454,N,-12211.2329,W,1,03,00.5,001.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200610.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=885.34 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200610.78,3642.6458,N,-12211.2332,W,1,03,00.5,001.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200611.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3690.00 Seconds. : The vehicle position is (4063095.7, 572591.3) : LayeredControl _resolvedCommand - vertMode=2 vert=884.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200611.78,3642.6463,N,-12211.2335,W,1,03,00.5,001.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200612.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200612.78,3642.6467,N,-12211.2337,W,1,03,00.5,001.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200613.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200613.78,3642.6471,N,-12211.2340,W,1,03,00.5,001.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200614.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.64 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200614.78,3642.6476,N,-12211.2342,W,1,03,00.5,001.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200615.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200615.78,3642.6480,N,-12211.2345,W,1,03,00.5,001.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=884.69 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200616.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200616.78,3642.6485,N,-12211.2347,W,1,03,00.5,001.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200617.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.66 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200617.78,3642.6490,N,-12211.2350,W,1,03,00.5,001.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200618.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200618.78,3642.6494,N,-12211.2352,W,1,03,00.5,001.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 3649.999958 : TerrainNav update at dvl time = 3649.999958 : _navData-> (x,y) = (4063101.66, 572588.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200619.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3650.00 : 50.00 : Estimated East Bias at time = 3650.00 : 50.00 : Estimated Depth Bias at time = 3650.00 : 0.00 : Estimated northing and easting = 4063151.66 : 572638.63 : NMEA Update: $GPGGA,200619.78,3642.6499,N,-12211.2354,W,1,03,00.5,001.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200620.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200620.78,3642.6504,N,-12211.2356,W,1,03,00.5,001.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200621.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200621.78,3642.6508,N,-12211.2358,W,1,03,00.5,001.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200622.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200622.78,3642.6513,N,-12211.2359,W,1,03,00.5,001.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=884.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200623.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200623.78,3642.6518,N,-12211.2361,W,1,03,00.5,001.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200624.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.24 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200624.78,3642.6523,N,-12211.2363,W,1,03,00.5,001.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200625.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200625.78,3642.6528,N,-12211.2364,W,1,03,00.5,001.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200626.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200626.78,3642.6533,N,-12211.2364,W,1,03,00.5,001.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200627.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200627.78,3642.6538,N,-12211.2365,W,1,03,00.5,001.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200628.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200628.78,3642.6543,N,-12211.2365,W,1,03,00.5,001.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 3659.999273 : TerrainNav update at dvl time = 3659.999273 : _navData-> (x,y) = (4063110.68, 572586.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200629.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3660.00 : 50.00 : Estimated East Bias at time = 3660.00 : 50.00 : Estimated Depth Bias at time = 3660.00 : 0.00 : Estimated northing and easting = 4063160.68 : 572636.64 : NMEA Update: $GPGGA,200629.78,3642.6548,N,-12211.2364,W,1,03,00.5,001.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=884.12 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200630.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200630.78,3642.6553,N,-12211.2363,W,1,03,00.5,001.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200631.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200631.78,3642.6558,N,-12211.2362,W,1,03,00.5,001.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200632.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=884.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200632.78,3642.6562,N,-12211.2361,W,1,03,00.5,001.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200633.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200633.78,3642.6567,N,-12211.2359,W,1,03,00.5,001.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200634.00,,,,,0,00,,,M,,M,,*4B : LayeredControl _resolvedCommand - vertMode=2 vert=883.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200634.78,3642.6571,N,-12211.2357,W,1,03,00.5,001.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200635.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200635.78,3642.6575,N,-12211.2355,W,1,03,00.5,001.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200636.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 3714.80 Seconds. : The vehicle position is is (4063117.0, 572588.3) : NMEA Update: $GPGGA,200636.78,3642.6579,N,-12211.2353,W,1,03,00.5,001.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=883.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200637.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3716.00 Seconds. : The vehicle position is (4063117.9, 572588.7) : NMEA Update: $GPGGA,200637.78,3642.6583,N,-12211.2350,W,1,03,00.5,002.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200638.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.65 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200638.78,3642.6586,N,-12211.2346,W,1,03,00.5,002.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 3669.998588 : TerrainNav update at dvl time = 3669.998588 : _navData-> (x,y) = (4063118.65, 572589.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200639.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3670.00 : 50.00 : Estimated East Bias at time = 3670.00 : 50.00 : Estimated Depth Bias at time = 3670.00 : 0.00 : Estimated northing and easting = 4063168.65 : 572639.39 : LayeredControl _resolvedCommand - vertMode=2 vert=883.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200639.78,3642.6589,N,-12211.2342,W,1,03,00.5,002.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200640.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200640.78,3642.6592,N,-12211.2338,W,1,03,00.5,002.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=883.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200641.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200641.78,3642.6595,N,-12211.2334,W,1,03,00.5,002.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200642.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200642.78,3642.6597,N,-12211.2330,W,1,03,00.5,002.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200643.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200643.78,3642.6599,N,-12211.2325,W,1,03,00.5,002.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=883.32 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200644.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 3722.99 Seconds. : The vehicle position is is (4063121.4, 572593.0) : NMEA Update: $GPGGA,200644.78,3642.6601,N,-12211.2321,W,1,03,00.5,002.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200645.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.29 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200645.78,3642.6602,N,-12211.2317,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200646.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200646.78,3642.6604,N,-12211.2312,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200647.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200647.78,3642.6605,N,-12211.2308,W,1,03,00.5,002.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200648.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200648.78,3642.6606,N,-12211.2303,W,1,03,00.5,002.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 3679.997903 : TerrainNav update at dvl time = 3679.997903 : _navData-> (x,y) = (4063122.42, 572595.77) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200649.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3680.00 : 50.00 : Estimated East Bias at time = 3680.00 : 50.00 : Estimated Depth Bias at time = 3680.00 : 0.00 : Estimated northing and easting = 4063172.42 : 572645.77 : LayeredControl _resolvedCommand - vertMode=2 vert=883.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200649.78,3642.6607,N,-12211.2298,W,1,03,00.5,002.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200650.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200650.78,3642.6608,N,-12211.2293,W,1,03,00.5,002.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=883.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200651.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200651.78,3642.6609,N,-12211.2288,W,1,03,00.5,002.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200652.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=883.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200652.78,3642.6610,N,-12211.2283,W,1,03,00.5,002.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200653.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200653.78,3642.6611,N,-12211.2277,W,1,03,00.5,002.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200654.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200654.78,3642.6612,N,-12211.2272,W,1,03,00.5,002.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200655.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.79 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200655.78,3642.6613,N,-12211.2266,W,1,03,00.5,002.4,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200656.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200656.78,3642.6614,N,-12211.2261,W,1,03,00.5,002.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200657.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200657.78,3642.6616,N,-12211.2256,W,1,03,00.5,002.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=882.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200658.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200658.78,3642.6617,N,-12211.2251,W,1,03,00.5,002.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 3689.997218 : TerrainNav update at dvl time = 3689.997218 : _navData-> (x,y) = (4063124.57, 572603.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200659.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 3690.00 : 50.00 : Estimated East Bias at time = 3690.00 : 50.00 : Estimated Depth Bias at time = 3690.00 : 0.00 : Estimated northing and easting = 4063174.57 : 572653.49 : NMEA Update: $GPGGA,200659.78,3642.6619,N,-12211.2246,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200700.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3739.19 Seconds. : The vehicle position is (4063125.3, 572605.0) : NMEA Update: $GPGGA,200700.78,3642.6621,N,-12211.2241,W,1,03,00.5,002.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=882.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200701.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 3740.19 Seconds. : The vehicle position is is (4063125.7, 572605.8) : NMEA Update: $GPGGA,200701.78,3642.6623,N,-12211.2236,W,1,03,00.5,002.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=882.74 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200702.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200702.78,3642.6626,N,-12211.2231,W,1,03,00.5,002.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200703.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.70 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200703.78,3642.6628,N,-12211.2226,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200704.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200704.78,3642.6631,N,-12211.2222,W,1,03,00.5,002.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=882.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200705.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200705.78,3642.6634,N,-12211.2217,W,1,03,00.5,002.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200706.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 3744.99 Seconds. : The vehicle position is (4063128.1, 572609.0) : NMEA Update: $GPGGA,200706.78,3642.6637,N,-12211.2213,W,1,03,00.5,002.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200707.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200707.78,3642.6640,N,-12211.2208,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200708.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200708.78,3642.6643,N,-12211.2204,W,1,03,00.5,002.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 3699.996533 : TerrainNav update at dvl time = 3699.996533 : _navData-> (x,y) = (4063129.43, 572610.41) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3700.00 : 50.00 : Estimated East Bias at time = 3700.00 : 50.00 : LayeredControl _resolvedCommand - vertMode=2 vert=882.44 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200709.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 3700.00 : 0.00 : Estimated northing and easting = 4063179.43 : 572660.41 : NMEA Update: $GPGGA,200709.78,3642.6647,N,-12211.2200,W,1,03,00.5,002.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200710.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.40 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200710.78,3642.6650,N,-12211.2196,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200711.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200711.78,3642.6654,N,-12211.2192,W,1,03,00.5,002.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=882.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200712.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200712.78,3642.6658,N,-12211.2188,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200713.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200713.78,3642.6662,N,-12211.2185,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200714.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=882.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200714.78,3642.6666,N,-12211.2182,W,1,03,00.5,002.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200715.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200715.78,3642.6670,N,-12211.2180,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200716.00,,,,,0,00,,,M,,M,,*4A : LayeredControl _resolvedCommand - vertMode=2 vert=881.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200716.78,3642.6674,N,-12211.2178,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200717.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200717.78,3642.6678,N,-12211.2176,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200718.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200718.78,3642.6682,N,-12211.2176,W,1,03,00.5,002.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 3709.995848 : TerrainNav update at dvl time = 3709.995848 : _navData-> (x,y) = (4063136.67, 572614.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=881.82 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200719.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3710.00 : 50.00 : Estimated East Bias at time = 3710.00 : 50.00 : Estimated Depth Bias at time = 3710.00 : 0.00 : Estimated northing and easting = 4063186.67 : 572664.61 : NMEA Update: $GPGGA,200719.78,3642.6686,N,-12211.2175,W,1,03,00.5,002.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200720.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200720.78,3642.6690,N,-12211.2175,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200721.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.79 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200721.78,3642.6694,N,-12211.2176,W,1,03,00.5,002.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200722.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 3760.79 Seconds. : The vehicle position is is (4063139.3, 572614.4) : NMEA Update: $GPGGA,200722.78,3642.6698,N,-12211.2177,W,1,03,00.5,002.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200723.00,,,,,0,00,,,M,,M,,*4C : LayeredControl _resolvedCommand - vertMode=2 vert=881.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 3761.99 Seconds. : The vehicle position is (4063140.1, 572614.2) : NMEA Update: $GPGGA,200723.78,3642.6701,N,-12211.2179,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200724.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 3762.99 Seconds. : The vehicle position is is (4063140.7, 572613.9) : LayeredControl _resolvedCommand - vertMode=2 vert=881.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200724.78,3642.6705,N,-12211.2180,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200725.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200725.78,3642.6709,N,-12211.2182,W,1,03,00.5,003.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=881.64 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200726.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200726.78,3642.6712,N,-12211.2184,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200727.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200727.78,3642.6715,N,-12211.2187,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200728.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200728.78,3642.6719,N,-12211.2189,W,1,03,00.5,003.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 3719.995163 : TerrainNav update at dvl time = 3719.995163 : _navData-> (x,y) = (4063143.39, 572612.54) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3720.00 : 50.00 : Estimated East Bias at time = 3720.00 : 50.00 : Estimated Depth Bias at time = 3720.00 : 0.00 : Estimated northing and easting = 4063193.39 : 572662.54 : AshtechGps::processRecord() - $GPGGA,200729.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200729.78,3642.6722,N,-12211.2191,W,1,03,00.5,003.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=881.40 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200730.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200730.78,3642.6726,N,-12211.2194,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200731.00,,,,,0,00,,,M,,M,,*4F : WaypointHoming: The Usbl has aquired the transponder at t = 3769.59 Seconds. : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : The vehicle position is (4063144.9, 572611.7) : LayeredControl _resolvedCommand - vertMode=2 vert=881.38 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200731.78,3642.6729,N,-12211.2196,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200732.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200732.78,3642.6733,N,-12211.2199,W,1,03,00.5,003.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=881.36 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200733.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200733.79,3642.6736,N,-12211.2202,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200734.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200734.79,3642.6740,N,-12211.2204,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200735.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200735.79,3642.6744,N,-12211.2207,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200736.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200736.79,3642.6748,N,-12211.2210,W,1,03,00.5,003.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=881.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200737.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200737.79,3642.6753,N,-12211.2212,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200738.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.24 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200738.79,3642.6757,N,-12211.2215,W,1,03,00.5,003.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 3729.994478 : TerrainNav update at dvl time = 3729.994478 : _navData-> (x,y) = (4063150.42, 572608.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200739.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3729.99 : 50.00 : Estimated East Bias at time = 3729.99 : 50.00 : Estimated Depth Bias at time = 3729.99 : 0.00 : Estimated northing and easting = 4063200.42 : 572658.67 : NMEA Update: $GPGGA,200739.79,3642.6761,N,-12211.2217,W,1,03,00.5,003.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=881.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200740.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200740.79,3642.6766,N,-12211.2219,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200741.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200741.79,3642.6770,N,-12211.2221,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200742.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.05 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200742.79,3642.6775,N,-12211.2223,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200743.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200743.79,3642.6778,N,-12211.2225,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200744.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.12 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200744.79,3642.6782,N,-12211.2226,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200745.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=881.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200745.79,3642.6787,N,-12211.2227,W,1,03,00.5,002.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200746.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200746.79,3642.6792,N,-12211.2228,W,1,03,00.5,002.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=881.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200747.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200747.79,3642.6796,N,-12211.2229,W,1,03,00.5,002.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200748.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200748.79,3642.6801,N,-12211.2229,W,1,03,00.5,002.9,M,-99.9,M,,*4b : TerrainNav update at nav time = 3739.993793 : TerrainNav update at dvl time = 3739.993793 : _navData-> (x,y) = (4063158.55, 572606.51) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3739.99 : 50.00 : Estimated East Bias at time = 3739.99 : 50.00 : Estimated Depth Bias at time = 3739.99 : 0.00 : AshtechGps::processRecord() - $GPGGA,200749.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063208.55 : 572656.51 : LayeredControl _resolvedCommand - vertMode=2 vert=880.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200749.79,3642.6806,N,-12211.2228,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200750.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200750.79,3642.6810,N,-12211.2228,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200751.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200751.79,3642.6815,N,-12211.2227,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200752.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200752.79,3642.6819,N,-12211.2225,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200753.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200753.79,3642.6823,N,-12211.2225,W,1,03,00.5,002.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=880.60 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200754.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200754.79,3642.6827,N,-12211.2223,W,1,03,00.5,002.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200755.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.49 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200755.79,3642.6831,N,-12211.2221,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200756.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.49 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200756.79,3642.6835,N,-12211.2218,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200757.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200757.79,3642.6839,N,-12211.2215,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200758.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.39 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200758.79,3642.6842,N,-12211.2212,W,1,03,00.5,003.0,M,-99.9,M,,*4d : TerrainNav update at nav time = 3750.003107 : TerrainNav update at dvl time = 3750.003107 : _navData-> (x,y) = (4063166.16, 572608.99) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3750.00 : 50.00 : Estimated East Bias at time = 3750.00 : 50.00 : Estimated Depth Bias at time = 3750.00 : 0.00 : Estimated northing and easting = 4063216.16 : 572658.99 : AshtechGps::processRecord() - $GPGGA,200759.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.37 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200759.79,3642.6845,N,-12211.2208,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200800.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200800.79,3642.6848,N,-12211.2205,W,1,03,00.5,003.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=880.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200801.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200801.79,3642.6851,N,-12211.2201,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200802.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200802.79,3642.6854,N,-12211.2198,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200803.79,3642.6857,N,-12211.2194,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200804.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200804.79,3642.6861,N,-12211.2191,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200805.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200805.79,3642.6864,N,-12211.2188,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200806.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200806.79,3642.6868,N,-12211.2186,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200807.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200807.79,3642.6872,N,-12211.2183,W,1,03,00.5,002.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=880.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200808.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200808.79,3642.6876,N,-12211.2180,W,1,03,00.5,002.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 3760.002422 : TerrainNav update at dvl time = 3760.002422 : _navData-> (x,y) = (4063172.50, 572613.62) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3760.00 : 50.00 : Estimated East Bias at time = 3760.00 : 50.00 : Estimated Depth Bias at time = 3760.00 : 0.00 : Estimated northing and easting = 4063222.50 : 572663.62 : AshtechGps::processRecord() - $GPGGA,200809.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200809.79,3642.6880,N,-12211.2178,W,1,03,00.5,002.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200810.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200810.79,3642.6884,N,-12211.2176,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200811.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200811.79,3642.6888,N,-12211.2174,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200812.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200812.79,3642.6893,N,-12211.2173,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200813.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200813.79,3642.6897,N,-12211.2172,W,1,03,00.5,002.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200814.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200814.79,3642.6901,N,-12211.2171,W,1,03,00.5,002.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=879.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200815.79,3642.6905,N,-12211.2170,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200816.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.69 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200816.79,3642.6910,N,-12211.2170,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200817.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.58 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200817.79,3642.6914,N,-12211.2170,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200818.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200818.79,3642.6919,N,-12211.2170,W,1,03,00.5,003.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 3770.001737 : TerrainNav update at dvl time = 3770.001737 : _navData-> (x,y) = (4063180.38, 572615.09) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3770.00 : 50.00 : Estimated East Bias at time = 3770.00 : 50.00 : Estimated Depth Bias at time = 3770.00 : 0.00 : Estimated northing and easting = 4063230.38 : 572665.09 : AshtechGps::processRecord() - $GPGGA,200819.00,,,,,0,00,,,M,,M,,*4A : LayeredControl _resolvedCommand - vertMode=2 vert=879.48 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200819.79,3642.6923,N,-12211.2170,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200820.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.33 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200820.79,3642.6928,N,-12211.2170,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200821.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200821.79,3642.6933,N,-12211.2170,W,1,03,00.5,003.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=879.35 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200822.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200822.79,3642.6937,N,-12211.2170,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200823.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200823.79,3642.6941,N,-12211.2170,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200824.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200824.79,3642.6946,N,-12211.2170,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200825.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200825.79,3642.6951,N,-12211.2169,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200826.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200826.79,3642.6955,N,-12211.2169,W,1,03,00.5,002.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200827.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200827.79,3642.6960,N,-12211.2171,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200828.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200828.79,3642.6963,N,-12211.2172,W,1,03,00.5,002.6,M,-99.9,M,,*45 : TerrainNav update at nav time = 3780.001052 : TerrainNav update at dvl time = 3780.001052 : _navData-> (x,y) = (4063188.57, 572614.72) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=878.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 3780.00 : 50.00 : Estimated East Bias at time = 3780.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,200829.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 3780.00 : 0.00 : Estimated northing and easting = 4063238.57 : 572664.72 : NMEA Update: $GPGGA,200829.79,3642.6968,N,-12211.2171,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200830.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200830.79,3642.6972,N,-12211.2169,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200831.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200831.79,3642.6977,N,-12211.2167,W,1,03,00.5,002.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200832.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200832.79,3642.6981,N,-12211.2165,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200833.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200833.79,3642.6986,N,-12211.2162,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200834.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.90 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200834.79,3642.6990,N,-12211.2160,W,1,03,00.5,002.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200835.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200835.78,3642.6994,N,-12211.2157,W,1,03,00.5,002.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=878.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200836.78,3642.6998,N,-12211.2154,W,1,03,00.5,002.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200837.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.66 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200837.78,3642.7002,N,-12211.2151,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200838.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.64 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200838.78,3642.7006,N,-12211.2148,W,1,03,00.5,002.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 3790.000367 : TerrainNav update at dvl time = 3790.000367 : _navData-> (x,y) = (4063196.60, 572618.17) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3790.00 : 50.00 : Estimated East Bias at time = 3790.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,200839.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 3790.00 : 0.00 : Estimated northing and easting = 4063246.60 : 572668.17 : NMEA Update: $GPGGA,200839.78,3642.7010,N,-12211.2145,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200840.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200840.78,3642.7014,N,-12211.2142,W,1,03,00.5,002.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200841.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.90 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200841.78,3642.7018,N,-12211.2139,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200842.78,3642.7022,N,-12211.2136,W,1,03,00.5,002.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=878.40 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200843.78,3642.7027,N,-12211.2133,W,1,03,00.5,002.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200844.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.39 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200844.78,3642.7031,N,-12211.2131,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200845.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.33 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200845.78,3642.7036,N,-12211.2129,W,1,03,00.5,002.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200846.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200846.78,3642.7041,N,-12211.2128,W,1,03,00.5,002.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200847.00,,,,,0,00,,,M,,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=878.33 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200847.78,3642.7045,N,-12211.2126,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200848.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.24 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200848.78,3642.7050,N,-12211.2125,W,1,03,00.5,002.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 3799.999682 : TerrainNav update at dvl time = 3799.999682 : _navData-> (x,y) = (4063204.65, 572621.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200849.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3800.00 : 50.00 : Estimated East Bias at time = 3800.00 : 50.00 : Estimated Depth Bias at time = 3800.00 : 0.00 : Estimated northing and easting = 4063254.65 : 572671.62 : NMEA Update: $GPGGA,200849.78,3642.7054,N,-12211.2123,W,1,03,00.5,002.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=878.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200850.78,3642.7059,N,-12211.2123,W,1,03,00.5,002.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200851.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200851.78,3642.7064,N,-12211.2122,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200852.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200852.78,3642.7068,N,-12211.2121,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200853.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200853.78,3642.7073,N,-12211.2121,W,1,03,00.5,002.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200854.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200854.78,3642.7077,N,-12211.2121,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200855.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200855.78,3642.7082,N,-12211.2121,W,1,03,00.5,002.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200856.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200856.78,3642.7087,N,-12211.2120,W,1,03,00.5,002.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=877.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200857.78,3642.7092,N,-12211.2120,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200858.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.82 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200858.78,3642.7096,N,-12211.2119,W,1,03,00.5,002.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 3809.998997 : TerrainNav update at dvl time = 3809.998997 : _navData-> (x,y) = (4063213.28, 572622.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200859.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3810.00 : 50.00 : Estimated East Bias at time = 3810.00 : 50.00 : Estimated Depth Bias at time = 3810.00 : 0.00 : Estimated northing and easting = 4063263.28 : 572672.30 : LayeredControl _resolvedCommand - vertMode=2 vert=877.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200859.78,3642.7101,N,-12211.2119,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200900.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200900.78,3642.7106,N,-12211.2118,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200901.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200901.78,3642.7111,N,-12211.2117,W,1,03,00.5,002.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200902.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.65 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200902.78,3642.7114,N,-12211.2116,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200903.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200903.78,3642.7118,N,-12211.2118,W,1,03,00.5,002.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=877.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200904.78,3642.7123,N,-12211.2117,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200905.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200905.78,3642.7127,N,-12211.2116,W,1,03,00.5,002.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200906.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200906.78,3642.7132,N,-12211.2115,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200907.78,3642.7137,N,-12211.2113,W,1,03,00.5,002.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.38 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200908.78,3642.7142,N,-12211.2111,W,1,03,00.5,002.7,M,-99.9,M,,*49 : TerrainNav update at nav time = 3819.998312 : TerrainNav update at dvl time = 3819.998312 : _navData-> (x,y) = (4063221.64, 572623.46) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200909.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3820.00 : 50.00 : Estimated East Bias at time = 3820.00 : 50.00 : Estimated Depth Bias at time = 3820.00 : 0.00 : Estimated northing and easting = 4063271.64 : 572673.46 : LayeredControl _resolvedCommand - vertMode=2 vert=877.36 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200909.78,3642.7147,N,-12211.2109,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200910.78,3642.7151,N,-12211.2107,W,1,03,00.5,002.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=877.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200911.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200911.78,3642.7156,N,-12211.2105,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200912.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.18 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200912.78,3642.7161,N,-12211.2103,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200913.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200913.78,3642.7166,N,-12211.2101,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200914.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200914.78,3642.7170,N,-12211.2098,W,1,03,00.5,002.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=877.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200915.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200915.78,3642.7175,N,-12211.2097,W,1,03,00.5,002.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200916.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.04 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200916.78,3642.7180,N,-12211.2095,W,1,03,00.5,002.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200917.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200917.78,3642.7185,N,-12211.2093,W,1,03,00.5,002.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=877.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200918.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200918.78,3642.7190,N,-12211.2091,W,1,03,00.5,002.6,M,-99.9,M,,*4f : TerrainNav update at nav time = 3829.997627 : TerrainNav update at dvl time = 3829.997627 : _navData-> (x,y) = (4063230.56, 572626.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200919.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3830.00 : 50.00 : Estimated East Bias at time = 3830.00 : 50.00 : Estimated Depth Bias at time = 3830.00 : 0.00 : Estimated northing and easting = 4063280.56 : 572676.40 : LayeredControl _resolvedCommand - vertMode=2 vert=876.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200919.78,3642.7195,N,-12211.2089,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200920.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.88 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200920.78,3642.7200,N,-12211.2088,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200921.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200921.78,3642.7204,N,-12211.2087,W,1,03,00.5,002.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=876.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200922.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200922.78,3642.7210,N,-12211.2085,W,1,03,00.5,002.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200923.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.74 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200923.78,3642.7215,N,-12211.2084,W,1,03,00.5,002.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200924.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200924.78,3642.7220,N,-12211.2083,W,1,03,00.5,002.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=876.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200925.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200925.78,3642.7225,N,-12211.2082,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200926.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200926.78,3642.7230,N,-12211.2081,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200927.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4063268.3, 572632.7), reached at t = 3885.99 (wplog) : Vehicle Position error is (29.5, 4.7) : The distance to the waypoint is 29.9. : LayeredControl::execute() -- (t = 3885.993791) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 3885.99. : LayeredControl::execute() -- (t = 3886.003790) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 3886.00 (wplog) The current location (N,E) = 4063238.8 , 572627.9 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 180.2 Degrees. : LayeredControl::execute() -- (t = 3886.003790) Behavior waypoint_homing:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=876.58 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200927.78,3642.7235,N,-12211.2080,W,1,03,00.5,002.7,M,-99.9,M,,*4e : CameraDriver::readData - starting a 40 photo sequence. : AshtechGps::processRecord() - $GPGGA,200928.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3839.996942 : TerrainNav update at dvl time = 3839.996942 : _navData-> (x,y) = (4063239.90, 572628.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200929.00,,,,,0,00,,,M,,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=876.35 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3840.00 : 49.00 : Estimated East Bias at time = 3840.00 : 49.00 : Estimated Depth Bias at time = 3840.00 : 0.00 : Estimated northing and easting = 4063288.90 : 572677.11 : NMEA Update: $GPGGA,200929.98,3642.7246,N,-12211.2078,W,1,03,00.5,002.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200930.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.41 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200930.98,3642.7251,N,-12211.2077,W,1,03,00.5,002.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200931.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.40 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200931.98,3642.7256,N,-12211.2076,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200932.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200932.98,3642.7262,N,-12211.2074,W,1,03,00.5,002.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200933.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.35 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200933.98,3642.7267,N,-12211.2073,W,1,03,00.5,002.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200934.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.70 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200934.98,3642.7272,N,-12211.2071,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200935.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200935.98,3642.7277,N,-12211.2069,W,1,03,00.5,002.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200936.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.27 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200936.98,3642.7281,N,-12211.2067,W,1,03,00.5,002.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200937.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.22 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200937.98,3642.7286,N,-12211.2064,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200938.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3849.996257 : TerrainNav update at dvl time = 3849.996257 : _navData-> (x,y) = (4063249.07, 572630.60) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=876.15 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200938.98,3642.7290,N,-12211.2061,W,1,03,00.5,002.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200939.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3850.00 : 49.00 : Estimated East Bias at time = 3850.00 : 49.00 : Estimated Depth Bias at time = 3850.00 : 0.00 : Estimated northing and easting = 4063298.07 : 572679.60 : NMEA Update: $GPGGA,200939.98,3642.7295,N,-12211.2058,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200940.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.06 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200940.98,3642.7299,N,-12211.2055,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200941.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.93 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200941.98,3642.7303,N,-12211.2051,W,1,03,00.5,002.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200942.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200942.98,3642.7306,N,-12211.2047,W,1,03,00.5,002.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=875.94 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200943.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200943.98,3642.7309,N,-12211.2043,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200944.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.87 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200944.98,3642.7312,N,-12211.2039,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200945.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.89 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200945.98,3642.7315,N,-12211.2034,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200946.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200946.98,3642.7318,N,-12211.2030,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200947.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.90 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200947.98,3642.7320,N,-12211.2025,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200948.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.86 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3859.995572 : TerrainNav update at dvl time = 3859.995572 : _navData-> (x,y) = (4063255.00, 572636.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200948.98,3642.7322,N,-12211.2020,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200949.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3860.00 : 50.00 : Estimated East Bias at time = 3860.00 : 50.00 : Estimated Depth Bias at time = 3860.00 : 0.00 : Estimated northing and easting = 4063305.00 : 572686.67 : NMEA Update: $GPGGA,200949.98,3642.7323,N,-12211.2015,W,1,03,00.5,003.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=876.27 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200950.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200950.98,3642.7324,N,-12211.2010,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200951.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.68 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200951.98,3642.7325,N,-12211.2005,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200952.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.60 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200952.98,3642.7326,N,-12211.2000,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200953.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200953.98,3642.7326,N,-12211.1995,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200954.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.57 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200954.98,3642.7326,N,-12211.1990,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200955.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.55 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200955.98,3642.7325,N,-12211.1985,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200956.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200956.98,3642.7325,N,-12211.1980,W,1,03,00.5,003.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=875.52 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200957.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200957.98,3642.7324,N,-12211.1975,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200958.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.45 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : TerrainNav update at nav time = 3869.994887 : TerrainNav update at dvl time = 3869.994887 : _navData-> (x,y) = (4063255.29, 572644.05) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200958.98,3642.7322,N,-12211.1970,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200959.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3869.99 : 50.00 : Estimated East Bias at time = 3869.99 : 50.00 : Estimated Depth Bias at time = 3869.99 : 0.00 : Estimated northing and easting = 4063305.29 : 572694.05 : NMEA Update: $GPGGA,200959.79,3642.7321,N,-12211.1966,W,1,03,00.5,003.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=875.76 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201000.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201000.79,3642.7319,N,-12211.1962,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201001.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.41 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201001.79,3642.7317,N,-12211.1958,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201002.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.45 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201002.79,3642.7315,N,-12211.1954,W,1,03,00.5,003.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201003.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201003.79,3642.7313,N,-12211.1950,W,1,03,00.5,003.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=875.29 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201004.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201004.79,3642.7310,N,-12211.1947,W,1,03,00.5,003.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201005.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.38 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201005.79,3642.7307,N,-12211.1943,W,1,03,00.5,003.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201006.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201006.79,3642.7304,N,-12211.1941,W,1,03,00.5,003.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=875.70 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201007.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201007.79,3642.7300,N,-12211.1938,W,1,03,00.5,003.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201008.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.30 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201008.79,3642.7297,N,-12211.1936,W,1,03,00.5,003.4,M,-99.9,M,,*47 : TerrainNav update at nav time = 3879.994202 : TerrainNav update at dvl time = 3879.994202 : _navData-> (x,y) = (4063250.59, 572649.32) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3879.99 : 49.00 : Estimated East Bias at time = 3879.99 : 49.00 : Estimated Depth Bias at time = 3879.99 : 0.00 : Estimated northing and easting = 4063299.59 : 572698.32 : AshtechGps::processRecord() - $GPGGA,201009.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.37 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201009.79,3642.7293,N,-12211.1934,W,1,03,00.5,003.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201010.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201010.79,3642.7290,N,-12211.1933,W,1,03,00.5,003.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201011.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.40 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201011.79,3642.7286,N,-12211.1932,W,1,03,00.5,003.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201012.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 3930.6 with dtw = 85.89 : LayeredControl _resolvedCommand - vertMode=2 vert=875.34 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201012.79,3642.7282,N,-12211.1932,W,1,03,00.5,003.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201013.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201013.79,3642.7278,N,-12211.1932,W,1,03,00.5,003.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=875.50 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201014.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201014.79,3642.7274,N,-12211.1932,W,1,03,00.5,003.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201015.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.45 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201015.79,3642.7270,N,-12211.1933,W,1,03,00.5,003.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201016.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.60 horzlMode=3 horz=3.14 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201016.79,3642.7266,N,-12211.1934,W,1,03,00.5,003.9,M,-99.9,M,,*49 : WaypointHoming: The Usbl has aquired the transponder at t = 3935.40 Seconds. : The vehicle position is (4063244.8, 572649.6) : AshtechGps::processRecord() - $GPGGA,201017.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon has exited the Usbl Fov at t = 3935.6 with dtw = -17.94 : WaypointHoming: The Usbl does NOT detect the transponder at t = 3935.60 Seconds. : The vehicle position is is (4063244.7, 572649.5) : NMEA Update: $GPGGA,201017.79,3642.7263,N,-12211.1936,W,1,03,00.5,004.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201018.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201018.79,3642.7259,N,-12211.1938,W,1,03,00.5,004.0,M,-99.9,M,,*49 : TerrainNav update at nav time = 3889.993517 : TerrainNav update at dvl time = 3889.993517 : _navData-> (x,y) = (4063243.59, 572649.09) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3889.99 : 49.00 : Estimated East Bias at time = 3889.99 : 49.00 : Estimated Depth Bias at time = 3889.99 : 0.00 : Estimated northing and easting = 4063292.59 : 572698.09 : AshtechGps::processRecord() - $GPGGA,201019.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201019.79,3642.7256,N,-12211.1940,W,1,03,00.5,004.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201020.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201020.79,3642.7252,N,-12211.1943,W,1,03,00.5,004.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=875.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201021.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201021.79,3642.7249,N,-12211.1946,W,1,03,00.5,004.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201022.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.60 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201022.79,3642.7246,N,-12211.1949,W,1,03,00.5,004.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201023.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.70 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201023.79,3642.7244,N,-12211.1953,W,1,03,00.5,004.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201024.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201024.79,3642.7241,N,-12211.1957,W,1,03,00.5,004.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201025.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201025.79,3642.7239,N,-12211.1961,W,1,03,00.5,004.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201026.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201026.79,3642.7237,N,-12211.1965,W,1,03,00.5,004.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201027.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201027.79,3642.7235,N,-12211.1969,W,1,03,00.5,004.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=875.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201028.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201028.79,3642.7234,N,-12211.1974,W,1,03,00.5,004.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 3900.002831 : TerrainNav update at dvl time = 3900.002831 : _navData-> (x,y) = (4063238.90, 572643.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201029.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3900.00 : 50.00 : Estimated East Bias at time = 3900.00 : 50.00 : Estimated Depth Bias at time = 3900.00 : 0.00 : Estimated northing and easting = 4063288.90 : 572693.72 : LayeredControl _resolvedCommand - vertMode=2 vert=875.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201029.79,3642.7233,N,-12211.1979,W,1,03,00.5,004.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201030.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201030.79,3642.7232,N,-12211.1984,W,1,03,00.5,004.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201031.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201031.79,3642.7231,N,-12211.1989,W,1,03,00.5,004.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201032.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201032.79,3642.7231,N,-12211.1994,W,1,03,00.5,004.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201033.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.88 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201033.79,3642.7231,N,-12211.1999,W,1,03,00.5,004.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201034.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 3952.6 with dtw = -9.86 : NMEA Update: $GPGGA,201034.79,3642.7231,N,-12211.2004,W,1,03,00.5,004.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=875.82 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201035.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201035.79,3642.7232,N,-12211.2009,W,1,03,00.5,004.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201036.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.90 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201036.79,3642.7232,N,-12211.2014,W,1,03,00.5,004.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201037.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201037.79,3642.7234,N,-12211.2019,W,1,03,00.5,004.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201038.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201038.79,3642.7235,N,-12211.2023,W,1,03,00.5,004.5,M,-99.9,M,,*44 : TerrainNav update at nav time = 3910.002146 : TerrainNav update at dvl time = 3910.002146 : _navData-> (x,y) = (4063239.04, 572636.39) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201039.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 3910.00 : 50.00 : Estimated East Bias at time = 3910.00 : 50.00 : Estimated Depth Bias at time = 3910.00 : 0.00 : Estimated northing and easting = 4063289.04 : 572686.39 : NMEA Update: $GPGGA,201039.79,3642.7237,N,-12211.2028,W,1,03,00.5,004.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201040.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201040.79,3642.7239,N,-12211.2033,W,1,03,00.5,004.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201041.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201041.79,3642.7241,N,-12211.2037,W,1,03,00.5,004.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=876.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201042.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201042.79,3642.7243,N,-12211.2041,W,1,03,00.5,004.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201043.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201043.79,3642.7246,N,-12211.2045,W,1,03,00.5,004.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201044.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201044.79,3642.7248,N,-12211.2049,W,1,03,00.5,004.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201045.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201045.79,3642.7251,N,-12211.2052,W,1,03,00.5,004.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201046.79,3642.7254,N,-12211.2055,W,1,03,00.5,004.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201047.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.12 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201047.79,3642.7258,N,-12211.2058,W,1,03,00.5,004.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201048.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201048.79,3642.7261,N,-12211.2061,W,1,03,00.5,004.4,M,-99.9,M,,*45 : TerrainNav update at nav time = 3920.001462 : TerrainNav update at dvl time = 3920.001462 : _navData-> (x,y) = (4063243.85, 572630.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=876.04 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 3920.00 : 50.00 : Estimated East Bias at time = 3920.00 : 50.00 : Estimated Depth Bias at time = 3920.00 : 0.00 : Estimated northing and easting = 4063293.85 : 572680.79 : AshtechGps::processRecord() - $GPGGA,201049.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201049.79,3642.7265,N,-12211.2063,W,1,03,00.5,004.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201050.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201050.79,3642.7269,N,-12211.2065,W,1,03,00.5,004.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201051.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201051.79,3642.7272,N,-12211.2067,W,1,03,00.5,004.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201052.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201052.79,3642.7276,N,-12211.2068,W,1,03,00.5,004.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201053.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201053.79,3642.7280,N,-12211.2069,W,1,03,00.5,004.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201054.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201054.79,3642.7284,N,-12211.2070,W,1,03,00.5,004.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201055.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201055.79,3642.7288,N,-12211.2070,W,1,03,00.5,004.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=875.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201056.79,3642.7292,N,-12211.2070,W,1,03,00.5,004.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201057.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201057.79,3642.7296,N,-12211.2070,W,1,03,00.5,004.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201058.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201058.79,3642.7300,N,-12211.2069,W,1,03,00.5,004.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 3930.000777 : TerrainNav update at dvl time = 3930.000777 : _navData-> (x,y) = (4063251.00, 572629.51) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3930.00 : 50.00 : Estimated East Bias at time = 3930.00 : 50.00 : Estimated Depth Bias at time = 3930.00 : 0.00 : Estimated northing and easting = 4063301.00 : 572679.51 : AshtechGps::processRecord() - $GPGGA,201059.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201059.79,3642.7304,N,-12211.2068,W,1,03,00.5,004.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201100.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201100.79,3642.7308,N,-12211.2067,W,1,03,00.5,004.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201101.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201101.78,3642.7311,N,-12211.2065,W,1,03,00.5,003.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201102.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201102.78,3642.7315,N,-12211.2063,W,1,03,00.5,003.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=875.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201103.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201103.78,3642.7319,N,-12211.2061,W,1,03,00.5,003.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201104.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.90 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201104.78,3642.7322,N,-12211.2058,W,1,03,00.5,003.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201105.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201105.78,3642.7325,N,-12211.2056,W,1,03,00.5,003.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201106.78,3642.7328,N,-12211.2053,W,1,03,00.5,003.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201107.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201107.78,3642.7331,N,-12211.2050,W,1,03,00.5,003.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201108.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201108.78,3642.7334,N,-12211.2046,W,1,03,00.5,003.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 3940.000092 : TerrainNav update at dvl time = 3940.000092 : _navData-> (x,y) = (4063257.25, 572632.85) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201109.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3940.00 : 50.00 : Estimated East Bias at time = 3940.00 : 50.00 : Estimated Depth Bias at time = 3940.00 : 0.00 : Estimated northing and easting = 4063307.25 : 572682.85 : NMEA Update: $GPGGA,201109.78,3642.7336,N,-12211.2043,W,1,03,00.5,003.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=875.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201110.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201110.78,3642.7339,N,-12211.2039,W,1,03,00.5,003.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201111.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201111.78,3642.7342,N,-12211.2036,W,1,03,00.5,003.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201112.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201112.78,3642.7344,N,-12211.2032,W,1,03,00.5,003.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201113.78,3642.7347,N,-12211.2028,W,1,03,00.5,003.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201114.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.54 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201114.78,3642.7350,N,-12211.2024,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201115.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.48 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201115.78,3642.7353,N,-12211.2021,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201116.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201116.78,3642.7356,N,-12211.2017,W,1,03,00.5,003.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=875.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201117.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201117.78,3642.7359,N,-12211.2013,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201118.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201118.78,3642.7363,N,-12211.2010,W,1,03,00.5,003.1,M,-99.9,M,,*47 : TerrainNav update at nav time = 3949.999407 : TerrainNav update at dvl time = 3949.999407 : _navData-> (x,y) = (4063262.66, 572638.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201119.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3950.00 : 50.00 : Estimated East Bias at time = 3950.00 : 50.00 : Estimated Depth Bias at time = 3950.00 : 0.00 : Estimated northing and easting = 4063312.66 : 572688.25 : LayeredControl _resolvedCommand - vertMode=2 vert=875.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201119.78,3642.7366,N,-12211.2006,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201120.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201120.78,3642.7369,N,-12211.2002,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201121.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201121.78,3642.7373,N,-12211.2001,W,1,03,00.5,002.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201122.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201122.78,3642.7376,N,-12211.1997,W,1,03,00.5,002.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201123.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201123.78,3642.7380,N,-12211.1994,W,1,03,00.5,002.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=875.37 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201124.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201124.78,3642.7383,N,-12211.1991,W,1,03,00.5,002.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201125.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.29 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201125.78,3642.7387,N,-12211.1988,W,1,03,00.5,002.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201126.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201126.78,3642.7391,N,-12211.1984,W,1,03,00.5,002.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201127.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201127.78,3642.7395,N,-12211.1981,W,1,03,00.5,002.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=875.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201128.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201128.78,3642.7399,N,-12211.1977,W,1,03,00.5,002.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 3959.998722 : TerrainNav update at dvl time = 3959.998722 : _navData-> (x,y) = (4063269.32, 572642.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201129.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3960.00 : 50.00 : Estimated East Bias at time = 3960.00 : 50.00 : Estimated Depth Bias at time = 3960.00 : 0.00 : Estimated northing and easting = 4063319.32 : 572692.99 : LayeredControl _resolvedCommand - vertMode=2 vert=875.18 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201129.78,3642.7402,N,-12211.1974,W,1,03,00.5,002.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201130.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201130.78,3642.7406,N,-12211.1970,W,1,03,00.5,002.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=875.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201131.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201131.78,3642.7410,N,-12211.1967,W,1,03,00.5,002.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201132.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201132.78,3642.7414,N,-12211.1964,W,1,03,00.5,002.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201133.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201133.78,3642.7418,N,-12211.1961,W,1,03,00.5,002.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201134.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201134.78,3642.7422,N,-12211.1957,W,1,03,00.5,002.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=874.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201135.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201135.78,3642.7427,N,-12211.1954,W,1,03,00.5,002.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201136.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201136.78,3642.7431,N,-12211.1951,W,1,03,00.5,002.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201137.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201137.78,3642.7435,N,-12211.1948,W,1,03,00.5,001.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=875.39 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201138.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201138.78,3642.7439,N,-12211.1944,W,1,03,00.5,001.9,M,-99.9,M,,*4c : TerrainNav update at nav time = 3969.998036 : TerrainNav update at dvl time = 3969.998036 : _navData-> (x,y) = (4063276.79, 572647.84) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3970.00 : 50.00 : Estimated East Bias at time = 3970.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,201139.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 3970.00 : 0.00 : Estimated northing and easting = 4063326.79 : 572697.84 : LayeredControl _resolvedCommand - vertMode=2 vert=874.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201139.78,3642.7443,N,-12211.1942,W,1,03,00.5,001.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201140.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201140.78,3642.7447,N,-12211.1939,W,1,03,00.5,001.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201141.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201141.78,3642.7451,N,-12211.1936,W,1,03,00.5,001.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201142.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201142.78,3642.7455,N,-12211.1934,W,1,03,00.5,001.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201143.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.73 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201143.78,3642.7460,N,-12211.1931,W,1,03,00.5,001.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201144.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201144.78,3642.7465,N,-12211.1928,W,1,03,00.5,001.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=874.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201145.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201145.78,3642.7469,N,-12211.1925,W,1,03,00.5,001.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201146.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201146.78,3642.7473,N,-12211.1923,W,1,03,00.5,001.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201147.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.58 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201147.78,3642.7477,N,-12211.1920,W,1,03,00.5,001.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201148.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201148.78,3642.7482,N,-12211.1918,W,1,03,00.5,001.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 3979.997351 : TerrainNav update at dvl time = 3979.997351 : _navData-> (x,y) = (4063284.81, 572651.70) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3980.00 : 50.00 : Estimated East Bias at time = 3980.00 : 50.00 : Estimated Depth Bias at time = 3980.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,201149.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.44 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated northing and easting = 4063334.81 : 572701.70 : NMEA Update: $GPGGA,201149.78,3642.7487,N,-12211.1915,W,1,03,00.5,001.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201150.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201150.78,3642.7492,N,-12211.1913,W,1,03,00.5,001.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201151.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201151.78,3642.7497,N,-12211.1912,W,1,03,00.5,001.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=874.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201152.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201152.78,3642.7501,N,-12211.1909,W,1,03,00.5,001.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201153.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201153.78,3642.7506,N,-12211.1907,W,1,03,00.5,001.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201154.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.37 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201154.78,3642.7510,N,-12211.1905,W,1,03,00.5,001.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201155.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201155.78,3642.7515,N,-12211.1903,W,1,03,00.5,001.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=874.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201156.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201156.78,3642.7519,N,-12211.1902,W,1,03,00.5,001.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201157.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201157.78,3642.7524,N,-12211.1901,W,1,03,00.5,001.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201158.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201158.78,3642.7529,N,-12211.1899,W,1,03,00.5,001.5,M,-99.9,M,,*47 : TerrainNav update at nav time = 3989.996666 : TerrainNav update at dvl time = 3989.996666 : _navData-> (x,y) = (4063293.59, 572654.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=874.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201159.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3990.00 : 50.00 : Estimated East Bias at time = 3990.00 : 50.00 : Estimated Depth Bias at time = 3990.00 : 0.00 : Estimated northing and easting = 4063343.59 : 572704.40 : DepthEnvelope -- Measured altitude = 1.488865. Allowable altitude = 1.500000. t= 4038.19. Stopping! : NMEA Update: $GPGGA,201159.78,3642.7534,N,-12211.1898,W,1,03,00.5,001.5,M,-99.9,M,,*4b : DepthEnvelope -- Measured altitude = 1.488865. Allowable altitude = 1.500000. t= 4038.39. Stopping! : DepthEnvelope -- Measured altitude = 1.488865. Allowable altitude = 1.500000. t= 4038.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201200.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201200.78,3642.7540,N,-12211.1896,W,1,03,00.5,001.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201201.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201201.78,3642.7545,N,-12211.1895,W,1,03,00.5,001.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201202.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201202.78,3642.7549,N,-12211.1894,W,1,03,00.5,001.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201203.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201203.78,3642.7553,N,-12211.1893,W,1,03,00.5,001.5,M,-99.9,M,,*4d : DepthEnvelope -- Measured altitude = 1.459048. Allowable altitude = 1.500000. t= 4042.39. Stopping! : DepthEnvelope -- Measured altitude = 1.459048. Allowable altitude = 1.500000. t= 4042.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201204.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.459048. Allowable altitude = 1.500000. t= 4042.79. Stopping! : DepthEnvelope -- Measured altitude = 1.439748. Allowable altitude = 1.500000. t= 4042.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.439748. Allowable altitude = 1.500000. t= 4043.19. Stopping! : NMEA Update: $GPGGA,201204.78,3642.7558,N,-12211.1891,W,1,03,00.5,001.4,M,-99.9,M,,*42 : DepthEnvelope -- Measured altitude = 1.439748. Allowable altitude = 1.500000. t= 4043.39. Stopping! : AshtechGps::processRecord() - $GPGGA,201205.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.437718. Allowable altitude = 1.500000. t= 4043.59. Stopping! : DepthEnvelope -- Measured altitude = 1.437718. Allowable altitude = 1.500000. t= 4043.79. Stopping! : DepthEnvelope -- Measured altitude = 1.437718. Allowable altitude = 1.500000. t= 4043.99. Stopping! : DepthEnvelope -- Measured altitude = 1.436132. Allowable altitude = 1.500000. t= 4044.19. Stopping! : NMEA Update: $GPGGA,201205.78,3642.7561,N,-12211.1890,W,1,03,00.5,001.4,M,-99.9,M,,*48 : DepthEnvelope -- Measured altitude = 1.436132. Allowable altitude = 1.500000. t= 4044.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.436132. Allowable altitude = 1.500000. t= 4044.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201206.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.428292. Allowable altitude = 1.500000. t= 4044.79. Stopping! : DepthEnvelope -- Measured altitude = 1.428292. Allowable altitude = 1.500000. t= 4044.99. Stopping! : DepthEnvelope -- Measured altitude = 1.428292. Allowable altitude = 1.500000. t= 4045.19. Stopping! : NMEA Update: $GPGGA,201206.78,3642.7564,N,-12211.1889,W,1,03,00.5,001.4,M,-99.9,M,,*46 : DepthEnvelope -- Measured altitude = 1.469589. Allowable altitude = 1.500000. t= 4045.39. Stopping! : DepthEnvelope -- Measured altitude = 1.469589. Allowable altitude = 1.500000. t= 4045.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201207.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.469589. Allowable altitude = 1.500000. t= 4045.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DepthEnvelope -- Measured altitude = 1.403859. Allowable altitude = 1.500000. t= 4045.99. Stopping! : DepthEnvelope -- Measured altitude = 1.403859. Allowable altitude = 1.500000. t= 4046.19. Stopping! : NMEA Update: $GPGGA,201207.78,3642.7567,N,-12211.1888,W,1,03,00.5,001.4,M,-99.9,M,,*45 : DepthEnvelope -- Measured altitude = 1.403859. Allowable altitude = 1.500000. t= 4046.39. Stopping! : DepthEnvelope -- Measured altitude = 1.374096. Allowable altitude = 1.500000. t= 4046.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201208.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.374096. Allowable altitude = 1.500000. t= 4046.79. Stopping! : DepthEnvelope -- Measured altitude = 1.374096. Allowable altitude = 1.500000. t= 4046.99. Stopping! : DepthEnvelope -- Measured altitude = 1.364034. Allowable altitude = 1.500000. t= 4047.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201208.78,3642.7571,N,-12211.1887,W,1,03,00.5,001.4,M,-99.9,M,,*42 : TerrainNav update at nav time = 3999.995981 : TerrainNav update at dvl time = 3999.995981 : _navData-> (x,y) = (4063301.36, 572656.20) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 1.364034. Allowable altitude = 1.500000. t= 4047.39. Stopping! : AshtechGps::processRecord() - $GPGGA,201209.00,,,,,0,00,,,M,,M,,*40 : DepthEnvelope -- Measured altitude = 1.364034. Allowable altitude = 1.500000. t= 4047.59. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4000.00 : 50.00 : Estimated East Bias at time = 4000.00 : 50.00 : Estimated Depth Bias at time = 4000.00 : 0.00 : Estimated northing and easting = 4063351.36 : 572706.20 : DepthEnvelope -- Measured altitude = 1.293335. Allowable altitude = 1.500000. t= 4047.79. Stopping! : DepthEnvelope -- Measured altitude = 1.293335. Allowable altitude = 1.500000. t= 4047.99. Stopping! : DepthEnvelope -- Measured altitude = 1.293335. Allowable altitude = 1.500000. t= 4048.19. Stopping! : NMEA Update: $GPGGA,201209.78,3642.7575,N,-12211.1886,W,1,03,00.5,001.3,M,-99.9,M,,*41 : DepthEnvelope -- Measured altitude = 1.260494. Allowable altitude = 1.500000. t= 4048.39. Stopping! : DepthEnvelope -- Measured altitude = 1.260494. Allowable altitude = 1.500000. t= 4048.59. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201210.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.260494. Allowable altitude = 1.500000. t= 4048.79. Stopping! : DepthEnvelope -- Measured altitude = 1.257072. Allowable altitude = 1.500000. t= 4048.99. Stopping! : DepthEnvelope -- Measured altitude = 1.257072. Allowable altitude = 1.500000. t= 4049.19. Stopping! : NMEA Update: $GPGGA,201210.78,3642.7576,N,-12211.1885,W,1,03,00.5,001.3,M,-99.9,M,,*49 : DepthEnvelope -- Measured altitude = 1.257072. Allowable altitude = 1.500000. t= 4049.39. Stopping! : DepthEnvelope -- Measured altitude = 1.253514. Allowable altitude = 1.500000. t= 4049.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201211.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.253514. Allowable altitude = 1.500000. t= 4049.79. Stopping! : DepthEnvelope -- Measured altitude = 1.253514. Allowable altitude = 1.500000. t= 4049.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.192970. Allowable altitude = 1.500000. t= 4050.19. Stopping! : NMEA Update: $GPGGA,201211.78,3642.7578,N,-12211.1885,W,1,03,00.5,001.2,M,-99.9,M,,*47 : DepthEnvelope -- Measured altitude = 1.192970. Allowable altitude = 1.500000. t= 4050.39. Stopping! : DepthEnvelope -- Measured altitude = 1.192970. Allowable altitude = 1.500000. t= 4050.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201212.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.187386. Allowable altitude = 1.500000. t= 4050.79. Stopping! : DepthEnvelope -- Measured altitude = 1.187386. Allowable altitude = 1.500000. t= 4050.99. Stopping! : DepthEnvelope -- Measured altitude = 1.187386. Allowable altitude = 1.500000. t= 4051.19. Stopping! : NMEA Update: $GPGGA,201212.78,3642.7581,N,-12211.1884,W,1,03,00.5,001.2,M,-99.9,M,,*43 : DepthEnvelope -- Measured altitude = 1.138959. Allowable altitude = 1.500000. t= 4051.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201213.00,,,,,0,00,,,M,,M,,*4B : DepthEnvelope -- Measured altitude = 1.138959. Allowable altitude = 1.500000. t= 4051.59. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.138959. Allowable altitude = 1.500000. t= 4051.79. Stopping! : DepthEnvelope -- Measured altitude = 1.127037. Allowable altitude = 1.500000. t= 4051.99. Stopping! : DepthEnvelope -- Measured altitude = 1.127037. Allowable altitude = 1.500000. t= 4052.19. Stopping! : NMEA Update: $GPGGA,201213.78,3642.7583,N,-12211.1883,W,1,03,00.5,001.1,M,-99.9,M,,*44 : DepthEnvelope -- Measured altitude = 1.127037. Allowable altitude = 1.500000. t= 4052.39. Stopping! : DepthEnvelope -- Measured altitude = 1.068501. Allowable altitude = 1.500000. t= 4052.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201214.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.068501. Allowable altitude = 1.500000. t= 4052.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.068501. Allowable altitude = 1.500000. t= 4052.99. Stopping! : DepthEnvelope -- Measured altitude = 1.066344. Allowable altitude = 1.500000. t= 4053.19. Stopping! : NMEA Update: $GPGGA,201214.78,3642.7586,N,-12211.1882,W,1,03,00.5,001.1,M,-99.9,M,,*47 : DepthEnvelope -- Measured altitude = 1.066344. Allowable altitude = 1.500000. t= 4053.39. Stopping! : DepthEnvelope -- Measured altitude = 1.066344. Allowable altitude = 1.500000. t= 4053.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201215.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.009613. Allowable altitude = 1.500000. t= 4053.79. Stopping! : DepthEnvelope -- Measured altitude = 1.009613. Allowable altitude = 1.500000. t= 4053.99. Stopping! : DepthEnvelope -- Measured altitude = 1.009613. Allowable altitude = 1.500000. t= 4054.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201215.78,3642.7586,N,-12211.1881,W,1,03,00.5,001.0,M,-99.9,M,,*44 : DepthEnvelope -- Measured altitude = 1.017675. Allowable altitude = 1.500000. t= 4054.39. Stopping! : DepthEnvelope -- Measured altitude = 1.017675. Allowable altitude = 1.500000. t= 4054.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201216.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.017675. Allowable altitude = 1.500000. t= 4054.79. Stopping! : DepthEnvelope -- Measured altitude = 0.913004. Allowable altitude = 1.500000. t= 4054.99. Stopping! : DepthEnvelope -- Measured altitude = 0.913004. Allowable altitude = 1.500000. t= 4055.19. Stopping! : NMEA Update: $GPGGA,201216.78,3642.7586,N,-12211.1881,W,1,03,00.5,000.9,M,-99.9,M,,*4f : DepthEnvelope -- Measured altitude = 0.913004. Allowable altitude = 1.500000. t= 4055.39. Stopping! : AshtechGps::processRecord() - $GPGGA,201217.00,,,,,0,00,,,M,,M,,*4F : DepthEnvelope -- Measured altitude = 0.912670. Allowable altitude = 1.500000. t= 4055.59. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.912670. Allowable altitude = 1.500000. t= 4055.79. Stopping! : DepthEnvelope -- Measured altitude = 0.912670. Allowable altitude = 1.500000. t= 4055.99. Stopping! : DepthEnvelope -- Measured altitude = 0.912322. Allowable altitude = 1.500000. t= 4056.19. Stopping! : NMEA Update: $GPGGA,201217.78,3642.7588,N,-12211.1881,W,1,03,00.5,000.9,M,-99.9,M,,*40 : DepthEnvelope -- Measured altitude = 0.912322. Allowable altitude = 1.500000. t= 4056.39. Stopping! : DepthEnvelope -- Measured altitude = 0.912322. Allowable altitude = 1.500000. t= 4056.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201218.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.912165. Allowable altitude = 1.500000. t= 4056.79. Stopping! : DepthEnvelope -- Measured altitude = 0.912165. Allowable altitude = 1.500000. t= 4056.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.912165. Allowable altitude = 1.500000. t= 4057.19. Stopping! : NMEA Update: $GPGGA,201218.78,3642.7588,N,-12211.1881,W,1,03,00.5,000.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 4009.995296 : TerrainNav update at dvl time = 4009.995296 : _navData-> (x,y) = (4063304.45, 572657.04) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4010.00 : 50.00 : Estimated East Bias at time = 4010.00 : 50.00 : Estimated Depth Bias at time = 4010.00 : 0.00 : Estimated northing and easting = 4063354.45 : 572707.04 : DepthEnvelope -- Measured altitude = 0.904794. Allowable altitude = 1.500000. t= 4057.39. Stopping! : DepthEnvelope -- Measured altitude = 0.904794. Allowable altitude = 1.500000. t= 4057.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201219.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.904794. Allowable altitude = 1.500000. t= 4057.79. Stopping! : DepthEnvelope -- Measured altitude = 0.904402. Allowable altitude = 1.500000. t= 4057.99. Stopping! : DepthEnvelope -- Measured altitude = 0.904402. Allowable altitude = 1.500000. t= 4058.19. Stopping! : NMEA Update: $GPGGA,201219.78,3642.7588,N,-12211.1881,W,1,03,00.5,000.9,M,-99.9,M,,*4e : DepthEnvelope -- Measured altitude = 0.904402. Allowable altitude = 1.500000. t= 4058.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.925337. Allowable altitude = 1.500000. t= 4058.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201220.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.925337. Allowable altitude = 1.500000. t= 4058.79. Stopping! : DepthEnvelope -- Measured altitude = 0.925337. Allowable altitude = 1.500000. t= 4058.99. Stopping! : DepthEnvelope -- Measured altitude = 0.924338. Allowable altitude = 1.500000. t= 4059.19. Stopping! : NMEA Update: $GPGGA,201220.78,3642.7590,N,-12211.1880,W,1,03,00.5,000.9,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DepthEnvelope -- Measured altitude = 0.924338. Allowable altitude = 1.500000. t= 4059.39. Stopping! : AshtechGps::processRecord() - $GPGGA,201221.00,,,,,0,00,,,M,,M,,*4A : DepthEnvelope -- Measured altitude = 0.924338. Allowable altitude = 1.500000. t= 4059.59. Stopping! : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.926019. Allowable altitude = 1.500000. t= 4059.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.926019. Allowable altitude = 1.500000. t= 4059.99. Stopping! : DepthEnvelope -- Measured altitude = 0.926019. Allowable altitude = 1.500000. t= 4060.19. Stopping! : NMEA Update: $GPGGA,201221.78,3642.7593,N,-12211.1880,W,1,03,00.5,000.9,M,-99.9,M,,*4e : DepthEnvelope -- Measured altitude = 0.934603. Allowable altitude = 1.500000. t= 4060.39. Stopping! : DepthEnvelope -- Measured altitude = 0.934603. Allowable altitude = 1.500000. t= 4060.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201222.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.934603. Allowable altitude = 1.500000. t= 4060.79. Stopping! : DepthEnvelope -- Measured altitude = 0.936911. Allowable altitude = 1.500000. t= 4060.99. Stopping! : DepthEnvelope -- Measured altitude = 0.936911. Allowable altitude = 1.500000. t= 4061.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201222.78,3642.7595,N,-12211.1880,W,1,03,00.5,000.9,M,-99.9,M,,*4b : DepthEnvelope -- Measured altitude = 0.936911. Allowable altitude = 1.500000. t= 4061.39. Stopping! : DepthEnvelope -- Measured altitude = 0.923059. Allowable altitude = 1.500000. t= 4061.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201223.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.923059. Allowable altitude = 1.500000. t= 4061.79. Stopping! : DepthEnvelope -- Measured altitude = 0.923059. Allowable altitude = 1.500000. t= 4061.99. Stopping! : DepthEnvelope -- Measured altitude = 0.924150. Allowable altitude = 1.500000. t= 4062.19. Stopping! : NMEA Update: $GPGGA,201223.78,3642.7596,N,-12211.1879,W,1,03,00.5,000.9,M,-99.9,M,,*4f : DepthEnvelope -- Measured altitude = 0.924150. Allowable altitude = 1.500000. t= 4062.39. Stopping! : DepthEnvelope -- Measured altitude = 0.924150. Allowable altitude = 1.500000. t= 4062.59. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201224.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DepthEnvelope -- Measured altitude = 0.925417. Allowable altitude = 1.500000. t= 4062.79. Stopping! : DepthEnvelope -- Measured altitude = 0.925417. Allowable altitude = 1.500000. t= 4062.99. Stopping! : DepthEnvelope -- Measured altitude = 0.925417. Allowable altitude = 1.500000. t= 4063.19. Stopping! : NMEA Update: $GPGGA,201224.78,3642.7596,N,-12211.1879,W,1,03,00.5,000.9,M,-99.9,M,,*48 : DepthEnvelope -- Measured altitude = 0.926738. Allowable altitude = 1.500000. t= 4063.39. Stopping! : DepthEnvelope -- Measured altitude = 0.926738. Allowable altitude = 1.500000. t= 4063.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201225.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.926738. Allowable altitude = 1.500000. t= 4063.79. Stopping! : DepthEnvelope -- Measured altitude = 0.927843. Allowable altitude = 1.500000. t= 4063.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 0.927843. Allowable altitude = 1.500000. t= 4064.19. Stopping! : NMEA Update: $GPGGA,201225.79,3642.7597,N,-12211.1879,W,1,03,00.5,000.9,M,-99.9,M,,*49 : DepthEnvelope -- Measured altitude = 0.927843. Allowable altitude = 1.500000. t= 4064.39. Stopping! : DepthEnvelope -- Measured altitude = 0.995908. Allowable altitude = 1.500000. t= 4064.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201226.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 0.995908. Allowable altitude = 1.500000. t= 4064.79. Stopping! : DepthEnvelope -- Measured altitude = 0.995908. Allowable altitude = 1.500000. t= 4064.99. Stopping! : DepthEnvelope -- Measured altitude = 1.001786. Allowable altitude = 1.500000. t= 4065.19. Stopping! : NMEA Update: $GPGGA,201226.79,3642.7597,N,-12211.1879,W,1,03,00.5,001.0,M,-99.9,M,,*42 : DepthEnvelope -- Measured altitude = 1.001786. Allowable altitude = 1.500000. t= 4065.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.001786. Allowable altitude = 1.500000. t= 4065.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201227.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.049166. Allowable altitude = 1.500000. t= 4065.79. Stopping! : DepthEnvelope -- Measured altitude = 1.049166. Allowable altitude = 1.500000. t= 4065.99. Stopping! : DepthEnvelope -- Measured altitude = 1.049166. Allowable altitude = 1.500000. t= 4066.19. Stopping! : NMEA Update: $GPGGA,201227.79,3642.7598,N,-12211.1879,W,1,03,00.5,001.0,M,-99.9,M,,*4c : DepthEnvelope -- Measured altitude = 1.046474. Allowable altitude = 1.500000. t= 4066.39. Stopping! : DepthEnvelope -- Measured altitude = 1.046474. Allowable altitude = 1.500000. t= 4066.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201228.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.046474. Allowable altitude = 1.500000. t= 4066.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.080296. Allowable altitude = 1.500000. t= 4066.99. Stopping! : DepthEnvelope -- Measured altitude = 1.080296. Allowable altitude = 1.500000. t= 4067.19. Stopping! : NMEA Update: $GPGGA,201228.79,3642.7600,N,-12211.1878,W,1,03,00.5,001.1,M,-99.9,M,,*41 : TerrainNav update at nav time = 4019.994612 : TerrainNav update at dvl time = 4019.994612 : _navData-> (x,y) = (4063306.70, 572657.46) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 1.080296. Allowable altitude = 1.500000. t= 4067.39. Stopping! : Estimated North Bias at time = 4019.99 : 50.00 : Estimated East Bias at time = 4019.99 : 50.00 : Estimated Depth Bias at time = 4019.99 : 0.00 : Estimated northing and easting = 4063356.70 : 572707.46 : DepthEnvelope -- Measured altitude = 1.118828. Allowable altitude = 1.500000. t= 4067.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201229.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.118828. Allowable altitude = 1.500000. t= 4067.79. Stopping! : DepthEnvelope -- Measured altitude = 1.118828. Allowable altitude = 1.500000. t= 4067.99. Stopping! : DepthEnvelope -- Measured altitude = 1.143871. Allowable altitude = 1.500000. t= 4068.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201229.79,3642.7602,N,-12211.1878,W,1,03,00.5,001.1,M,-99.9,M,,*42 : DepthEnvelope -- Measured altitude = 1.143871. Allowable altitude = 1.500000. t= 4068.39. Stopping! : DepthEnvelope -- Measured altitude = 1.143871. Allowable altitude = 1.500000. t= 4068.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201230.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.144753. Allowable altitude = 1.500000. t= 4068.79. Stopping! : DepthEnvelope -- Measured altitude = 1.144753. Allowable altitude = 1.500000. t= 4068.99. Stopping! : DepthEnvelope -- Measured altitude = 1.144753. Allowable altitude = 1.500000. t= 4069.19. Stopping! : NMEA Update: $GPGGA,201230.79,3642.7604,N,-12211.1877,W,1,03,00.5,001.1,M,-99.9,M,,*43 : DepthEnvelope -- Measured altitude = 1.169378. Allowable altitude = 1.500000. t= 4069.39. Stopping! : DepthEnvelope -- Measured altitude = 1.169378. Allowable altitude = 1.500000. t= 4069.59. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201231.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.169378. Allowable altitude = 1.500000. t= 4069.79. Stopping! : DepthEnvelope -- Measured altitude = 1.228120. Allowable altitude = 1.500000. t= 4069.99. Stopping! : DepthEnvelope -- Measured altitude = 1.228120. Allowable altitude = 1.500000. t= 4070.19. Stopping! : NMEA Update: $GPGGA,201231.79,3642.7605,N,-12211.1877,W,1,03,00.5,001.2,M,-99.9,M,,*40 : DepthEnvelope -- Measured altitude = 1.228120. Allowable altitude = 1.500000. t= 4070.39. Stopping! : DepthEnvelope -- Measured altitude = 1.237027. Allowable altitude = 1.500000. t= 4070.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201232.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.237027. Allowable altitude = 1.500000. t= 4070.79. Stopping! : DepthEnvelope -- Measured altitude = 1.237027. Allowable altitude = 1.500000. t= 4070.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.268933. Allowable altitude = 1.500000. t= 4071.19. Stopping! : NMEA Update: $GPGGA,201232.79,3642.7606,N,-12211.1877,W,1,03,00.5,001.3,M,-99.9,M,,*41 : DepthEnvelope -- Measured altitude = 1.268933. Allowable altitude = 1.500000. t= 4071.39. Stopping! : DepthEnvelope -- Measured altitude = 1.268933. Allowable altitude = 1.500000. t= 4071.59. Stopping! : AshtechGps::processRecord() - $GPGGA,201233.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.269194. Allowable altitude = 1.500000. t= 4071.79. Stopping! : DepthEnvelope -- Measured altitude = 1.269194. Allowable altitude = 1.500000. t= 4071.99. Stopping! : DepthEnvelope -- Measured altitude = 1.269194. Allowable altitude = 1.500000. t= 4072.19. Stopping! : NMEA Update: $GPGGA,201233.79,3642.7608,N,-12211.1876,W,1,03,00.5,001.3,M,-99.9,M,,*4f : DepthEnvelope -- Measured altitude = 1.360790. Allowable altitude = 1.500000. t= 4072.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201234.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.360790. Allowable altitude = 1.500000. t= 4072.60. Stopping! : DepthEnvelope -- Measured altitude = 1.360790. Allowable altitude = 1.500000. t= 4072.80. Stopping! : DepthEnvelope -- Measured altitude = 1.384905. Allowable altitude = 1.500000. t= 4073.00. Stopping! : DepthEnvelope -- Measured altitude = 1.384905. Allowable altitude = 1.500000. t= 4073.20. Stopping! : NMEA Update: $GPGGA,201234.79,3642.7609,N,-12211.1875,W,1,03,00.5,001.4,M,-99.9,M,,*4d : DepthEnvelope -- Measured altitude = 1.384905. Allowable altitude = 1.500000. t= 4073.40. Stopping! : AshtechGps::processRecord() - $GPGGA,201235.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 1.435795. Allowable altitude = 1.500000. t= 4073.60. Stopping! : DepthEnvelope -- Measured altitude = 1.435795. Allowable altitude = 1.500000. t= 4073.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 1.435795. Allowable altitude = 1.500000. t= 4074.00. Stopping! : NMEA Update: $GPGGA,201235.79,3642.7611,N,-12211.1874,W,1,03,00.5,001.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201236.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201236.79,3642.7612,N,-12211.1874,W,1,03,00.5,001.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201237.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201237.79,3642.7614,N,-12211.1873,W,1,03,00.5,001.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201238.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201238.79,3642.7615,N,-12211.1873,W,1,03,00.5,001.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 4029.993927 : TerrainNav update at dvl time = 4029.993927 : _navData-> (x,y) = (4063309.50, 572658.20) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4029.99 : 50.00 : Estimated East Bias at time = 4029.99 : 50.00 : Estimated Depth Bias at time = 4029.99 : 0.00 : Estimated northing and easting = 4063359.50 : 572708.20 : AshtechGps::processRecord() - $GPGGA,201239.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201239.79,3642.7616,N,-12211.1872,W,1,03,00.5,001.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201240.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201240.79,3642.7618,N,-12211.1872,W,1,03,00.5,001.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201241.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201241.79,3642.7619,N,-12211.1871,W,1,03,00.5,002.0,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201242.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201242.79,3642.7620,N,-12211.1871,W,1,03,00.5,002.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201243.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201243.79,3642.7622,N,-12211.1871,W,1,03,00.5,002.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201244.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201244.79,3642.7623,N,-12211.1870,W,1,03,00.5,002.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201245.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201245.79,3642.7624,N,-12211.1870,W,1,03,00.5,002.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201246.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201246.79,3642.7625,N,-12211.1869,W,1,03,00.5,002.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201247.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201247.79,3642.7626,N,-12211.1869,W,1,03,00.5,002.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201248.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201248.79,3642.7627,N,-12211.1868,W,1,03,00.5,002.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 4040.003241 : TerrainNav update at dvl time = 4040.003241 : _navData-> (x,y) = (4063311.68, 572658.85) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4040.00 : 50.00 : Estimated East Bias at time = 4040.00 : 50.00 : Estimated Depth Bias at time = 4040.00 : 0.00 : Estimated northing and easting = 4063361.68 : 572708.85 : AshtechGps::processRecord() - $GPGGA,201249.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201249.79,3642.7628,N,-12211.1868,W,1,03,00.5,002.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201250.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=0.17 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201250.79,3642.7629,N,-12211.1868,W,1,03,00.5,002.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201251.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Depth 872.432347 shallower than restart depth 874.078517 and altitude 3.017840 greater than min altitude 1.500000 at t= 4089.80. Starting prop! : NMEA Update: $GPGGA,201251.79,3642.7630,N,-12211.1867,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201252.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.44 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201252.79,3642.7631,N,-12211.1867,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201253.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.43 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201253.79,3642.7631,N,-12211.1867,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201254.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201254.79,3642.7632,N,-12211.1866,W,1,03,00.5,003.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=872.29 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201255.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201255.79,3642.7634,N,-12211.1866,W,1,03,00.5,003.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201256.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.32 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201256.79,3642.7635,N,-12211.1865,W,1,03,00.5,003.5,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201257.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201257.79,3642.7637,N,-12211.1865,W,1,03,00.5,003.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201258.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201258.79,3642.7638,N,-12211.1864,W,1,03,00.5,003.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 4050.002556 : TerrainNav update at dvl time = 4050.002556 : _navData-> (x,y) = (4063313.80, 572659.49) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4050.00 : 50.00 : Estimated East Bias at time = 4050.00 : 50.00 : Estimated Depth Bias at time = 4050.00 : 0.00 : Estimated northing and easting = 4063363.80 : 572709.49 : AshtechGps::processRecord() - $GPGGA,201259.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201259.79,3642.7640,N,-12211.1863,W,1,03,00.5,003.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201300.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201300.79,3642.7643,N,-12211.1862,W,1,03,00.5,003.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201301.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201301.79,3642.7645,N,-12211.1862,W,1,03,00.5,003.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=872.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201302.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201302.79,3642.7648,N,-12211.1861,W,1,03,00.5,004.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201303.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201303.79,3642.7651,N,-12211.1861,W,1,03,00.5,004.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201304.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=872.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201304.79,3642.7654,N,-12211.1861,W,1,03,00.5,004.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201305.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201305.79,3642.7657,N,-12211.1860,W,1,03,00.5,004.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201306.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201306.79,3642.7660,N,-12211.1860,W,1,03,00.5,004.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201307.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201307.79,3642.7663,N,-12211.1860,W,1,03,00.5,004.1,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201308.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201308.79,3642.7667,N,-12211.1859,W,1,03,00.5,004.1,M,-99.9,M,,*45 : TerrainNav update at nav time = 4060.001871 : TerrainNav update at dvl time = 4060.001871 : _navData-> (x,y) = (4063319.08, 572660.12) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=871.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201309.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4060.00 : 50.00 : Estimated East Bias at time = 4060.00 : 50.00 : Estimated Depth Bias at time = 4060.00 : 0.00 : Estimated northing and easting = 4063369.08 : 572710.12 : NMEA Update: $GPGGA,201309.79,3642.7670,N,-12211.1859,W,1,03,00.5,004.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201310.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201310.79,3642.7674,N,-12211.1859,W,1,03,00.5,004.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201311.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=871.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201311.79,3642.7678,N,-12211.1859,W,1,03,00.5,004.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201312.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201312.79,3642.7682,N,-12211.1858,W,1,03,00.5,004.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201313.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.79 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201313.79,3642.7686,N,-12211.1858,W,1,03,00.5,003.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201314.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201314.79,3642.7690,N,-12211.1857,W,1,03,00.5,003.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201315.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201315.79,3642.7694,N,-12211.1857,W,1,03,00.5,003.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=871.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201316.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201316.79,3642.7698,N,-12211.1856,W,1,03,00.5,003.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201317.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201317.79,3642.7703,N,-12211.1856,W,1,03,00.5,003.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201318.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4063227.7, 572643.3), reached at t = 4117.00 (wplog) : Vehicle Position error is (-98.6, -17.4) : The distance to the waypoint is -100.2. : LayeredControl::execute() -- (t = 4116.997966) Behavior waypoint_homing:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 4117.007966) Behavior acousticUpdate:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 4117.01 (wplog) The current location (N,E) = 4063326.3 , 572660.7 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 191.4 Degrees. : LayeredControl::execute() -- (t = 4117.007966) Behavior waypoint_homing:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=872.54 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201318.79,3642.7707,N,-12211.1855,W,1,03,00.5,003.5,M,-99.9,M,,*4c : TerrainNav update at nav time = 4070.001186 : TerrainNav update at dvl time = 4070.001186 : _navData-> (x,y) = (4063326.49, 572660.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201319.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4070.00 : 50.00 : Estimated East Bias at time = 4070.00 : 50.00 : Estimated Depth Bias at time = 4070.00 : 0.00 : Estimated northing and easting = 4063376.49 : 572710.72 : NMEA Update: $GPGGA,201319.79,3642.7711,N,-12211.1854,W,1,03,00.5,003.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201320.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.63 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201320.79,3642.7716,N,-12211.1854,W,1,03,00.5,003.3,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201321.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.62 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201321.79,3642.7720,N,-12211.1853,W,1,03,00.5,003.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201322.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201322.79,3642.7725,N,-12211.1853,W,1,03,00.5,003.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=871.65 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201323.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201323.79,3642.7729,N,-12211.1853,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201324.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.63 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201324.79,3642.7733,N,-12211.1853,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201325.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.60 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201325.79,3642.7738,N,-12211.1854,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201326.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201326.79,3642.7742,N,-12211.1855,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201327.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.71 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201327.78,3642.7746,N,-12211.1857,W,1,03,00.5,003.0,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201328.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.67 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201328.78,3642.7750,N,-12211.1859,W,1,03,00.5,002.9,M,-99.9,M,,*4d : TerrainNav update at nav time = 4080.000501 : TerrainNav update at dvl time = 4080.000501 : _navData-> (x,y) = (4063334.47, 572660.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201329.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4080.00 : 50.00 : Estimated East Bias at time = 4080.00 : 50.00 : Estimated Depth Bias at time = 4080.00 : 0.00 : Estimated northing and easting = 4063384.47 : 572710.03 : NMEA Update: $GPGGA,201329.78,3642.7754,N,-12211.1862,W,1,03,00.5,003.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=871.63 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201330.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201330.78,3642.7757,N,-12211.1865,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201331.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.01 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201331.78,3642.7760,N,-12211.1868,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201332.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.50 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201332.78,3642.7763,N,-12211.1872,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201333.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201333.78,3642.7765,N,-12211.1875,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201334.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.50 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201334.78,3642.7767,N,-12211.1879,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201335.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.50 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201335.78,3642.7769,N,-12211.1883,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201336.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 4135.2 with dtw = 177.65 : NMEA Update: $GPGGA,201336.78,3642.7770,N,-12211.1888,W,1,03,00.5,003.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=871.40 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201337.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201337.78,3642.7771,N,-12211.1892,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201338.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.35 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201338.78,3642.7772,N,-12211.1897,W,1,03,00.5,003.1,M,-99.9,M,,*47 : TerrainNav update at nav time = 4089.999816 : TerrainNav update at dvl time = 4089.999816 : _navData-> (x,y) = (4063338.47, 572654.39) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4090.00 : 50.00 : Estimated East Bias at time = 4090.00 : 50.00 : Estimated Depth Bias at time = 4090.00 : 0.00 : Estimated northing and easting = 4063388.47 : 572704.39 : AshtechGps::processRecord() - $GPGGA,201339.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.32 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201339.78,3642.7772,N,-12211.1901,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201340.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201340.78,3642.7772,N,-12211.1906,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201341.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.19 horzlMode=3 horz=3.34 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 4139.80 Seconds. : The vehicle position is (4063338.5, 572652.7) : NMEA Update: $GPGGA,201341.78,3642.7772,N,-12211.1910,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201342.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.39 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201342.78,3642.7771,N,-12211.1915,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201343.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201343.78,3642.7770,N,-12211.1919,W,1,03,00.5,003.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=871.41 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201344.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 4143.00 Seconds. : The vehicle position is is (4063338.0, 572650.7) : NMEA Update: $GPGGA,201344.78,3642.7769,N,-12211.1923,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201345.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201345.78,3642.7768,N,-12211.1926,W,1,03,00.5,003.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201346.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 4145.00 Seconds. : The vehicle position is (4063337.3, 572649.6) : LayeredControl _resolvedCommand - vertMode=2 vert=871.49 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201346.78,3642.7766,N,-12211.1930,W,1,03,00.5,003.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201347.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201347.78,3642.7764,N,-12211.1933,W,1,03,00.5,003.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201348.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.58 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201348.78,3642.7761,N,-12211.1936,W,1,03,00.5,003.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 4099.999131 : TerrainNav update at dvl time = 4099.999131 : _navData-> (x,y) = (4063336.47, 572648.53) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4100.00 : 49.00 : Estimated East Bias at time = 4100.00 : 49.00 : Estimated Depth Bias at time = 4100.00 : 0.00 : Estimated northing and easting = 4063385.47 : 572697.53 : AshtechGps::processRecord() - $GPGGA,201349.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.52 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201349.78,3642.7759,N,-12211.1939,W,1,03,00.5,003.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201350.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201350.78,3642.7756,N,-12211.1941,W,1,03,00.5,003.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=872.59 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201351.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201351.78,3642.7753,N,-12211.1944,W,1,03,00.5,003.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201352.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.79 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201352.78,3642.7750,N,-12211.1946,W,1,03,00.5,003.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201353.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.84 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201353.78,3642.7747,N,-12211.1947,W,1,03,00.5,003.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201354.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201354.78,3642.7744,N,-12211.1949,W,1,03,00.5,003.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201355.00,,,,,0,00,,,M,,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=871.82 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201355.78,3642.7741,N,-12211.1951,W,1,03,00.5,003.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201356.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201356.78,3642.7737,N,-12211.1952,W,1,03,00.5,003.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201357.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201357.78,3642.7734,N,-12211.1953,W,1,03,00.5,004.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=871.71 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201358.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201358.78,3642.7730,N,-12211.1955,W,1,03,00.5,004.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 4109.998446 : TerrainNav update at dvl time = 4109.998446 : _navData-> (x,y) = (4063330.66, 572645.82) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4110.00 : 49.00 : Estimated East Bias at time = 4110.00 : 49.00 : Estimated Depth Bias at time = 4110.00 : 0.00 : Estimated northing and easting = 4063379.66 : 572694.82 : AshtechGps::processRecord() - $GPGGA,201359.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.70 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201359.78,3642.7726,N,-12211.1956,W,1,03,00.5,004.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201400.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.70 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201400.78,3642.7723,N,-12211.1958,W,1,03,00.5,004.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201401.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201401.78,3642.7719,N,-12211.1960,W,1,03,00.5,004.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201402.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.79 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201402.78,3642.7715,N,-12211.1962,W,1,03,00.5,004.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201403.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.86 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201403.78,3642.7712,N,-12211.1964,W,1,03,00.5,004.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201404.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201404.78,3642.7708,N,-12211.1966,W,1,03,00.5,004.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=871.97 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201405.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201405.78,3642.7704,N,-12211.1969,W,1,03,00.5,004.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201406.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.04 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201406.78,3642.7701,N,-12211.1972,W,1,03,00.5,004.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201407.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.13 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201407.78,3642.7697,N,-12211.1975,W,1,03,00.5,004.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201408.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201408.78,3642.7694,N,-12211.1979,W,1,03,00.5,004.0,M,-99.9,M,,*4d : TerrainNav update at nav time = 4119.997761 : TerrainNav update at dvl time = 4119.997761 : _navData-> (x,y) = (4063323.93, 572642.33) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4120.00 : 50.00 : Estimated East Bias at time = 4120.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,201409.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.16 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated Depth Bias at time = 4120.00 : 0.00 : Estimated northing and easting = 4063373.93 : 572692.33 : NMEA Update: $GPGGA,201409.78,3642.7690,N,-12211.1982,W,1,03,00.5,004.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201410.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.29 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201410.78,3642.7687,N,-12211.1986,W,1,03,00.5,004.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201411.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201411.78,3642.7684,N,-12211.1989,W,1,03,00.5,004.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=872.29 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201412.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201412.78,3642.7680,N,-12211.1993,W,1,03,00.5,004.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201413.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.32 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201413.78,3642.7677,N,-12211.1996,W,1,03,00.5,004.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201414.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.77 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201414.78,3642.7673,N,-12211.2000,W,1,03,00.5,004.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201415.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201415.78,3642.7669,N,-12211.2003,W,1,03,00.5,003.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=872.41 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201416.78,3642.7666,N,-12211.2007,W,1,03,00.5,003.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201417.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201417.78,3642.7662,N,-12211.2010,W,1,03,00.5,003.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201418.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201418.78,3642.7658,N,-12211.2012,W,1,03,00.5,003.9,M,-99.9,M,,*45 : TerrainNav update at nav time = 4129.997076 : TerrainNav update at dvl time = 4129.997076 : _navData-> (x,y) = (4063317.23, 572637.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=872.59 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201419.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4130.00 : 50.00 : Estimated East Bias at time = 4130.00 : 50.00 : Estimated Depth Bias at time = 4130.00 : 0.00 : Estimated northing and easting = 4063367.23 : 572687.35 : NMEA Update: $GPGGA,201419.78,3642.7654,N,-12211.2015,W,1,03,00.5,003.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.66 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201420.78,3642.7650,N,-12211.2018,W,1,03,00.5,003.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201421.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.75 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201421.78,3642.7645,N,-12211.2021,W,1,03,00.5,003.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201422.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201422.78,3642.7641,N,-12211.2023,W,1,03,00.5,003.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=872.74 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201423.78,3642.7637,N,-12211.2025,W,1,03,00.5,003.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201424.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.85 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201424.78,3642.7633,N,-12211.2028,W,1,03,00.5,003.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201425.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201425.78,3642.7628,N,-12211.2030,W,1,03,00.5,003.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=872.99 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201426.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201426.78,3642.7624,N,-12211.2032,W,1,03,00.5,003.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201427.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.95 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201427.78,3642.7620,N,-12211.2034,W,1,03,00.5,003.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201428.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.08 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201428.78,3642.7615,N,-12211.2036,W,1,03,00.5,003.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 4139.996391 : TerrainNav update at dvl time = 4139.996391 : _navData-> (x,y) = (4063309.30, 572633.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4140.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,201429.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 4140.00 : 50.00 : Estimated Depth Bias at time = 4140.00 : 0.00 : Estimated northing and easting = 4063359.30 : 572683.88 : NMEA Update: $GPGGA,201429.78,3642.7611,N,-12211.2038,W,1,03,00.5,003.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201430.00,,,,,0,00,,,M,,M,,*4C : LayeredControl _resolvedCommand - vertMode=2 vert=873.26 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201430.78,3642.7606,N,-12211.2040,W,1,03,00.5,003.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201431.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.26 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201431.78,3642.7601,N,-12211.2042,W,1,03,00.5,003.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201432.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201432.78,3642.7597,N,-12211.2044,W,1,03,00.5,003.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=873.24 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201433.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201433.78,3642.7592,N,-12211.2046,W,1,03,00.5,003.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201434.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.38 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201434.78,3642.7588,N,-12211.2048,W,1,03,00.5,003.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201435.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.43 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201435.78,3642.7583,N,-12211.2050,W,1,03,00.5,003.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201436.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201436.78,3642.7579,N,-12211.2051,W,1,03,00.5,003.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201437.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.48 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201437.78,3642.7574,N,-12211.2053,W,1,03,00.5,003.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201438.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.63 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201438.78,3642.7570,N,-12211.2054,W,1,03,00.5,003.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 4149.995706 : TerrainNav update at dvl time = 4149.995706 : _navData-> (x,y) = (4063300.87, 572631.24) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4150.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,201439.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 4150.00 : 50.00 : Estimated Depth Bias at time = 4150.00 : 0.00 : Estimated northing and easting = 4063350.87 : 572681.24 : NMEA Update: $GPGGA,201439.78,3642.7565,N,-12211.2056,W,1,03,00.5,003.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=874.42 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201440.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4063269.9, 572626.1), reached at t = 4198.79 (wplog) : Vehicle Position error is (-29.6, -4.7) : The distance to the waypoint is 30.0. : LayeredControl::execute() -- (t = 4198.792363) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 4198.80. : LayeredControl::execute() -- (t = 4198.802362) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 4198.80 (wplog) The current location (N,E) = 4063299.5 , 572630.9 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 181.3 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 4198.8 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 4198.80 Seconds. : The vehicle position is (4063299.5, 572630.9) : LayeredControl::execute() -- (t = 4198.812361) Behavior waypoint_homing:-1 has changed to state Active : CameraDriver::readData - starting a 40 photo sequence. : AshtechGps::processRecord() - $GPGGA,201441.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.73 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201442.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.77 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201442.78,3642.7551,N,-12211.2061,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201443.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201443.78,3642.7547,N,-12211.2063,W,1,03,00.5,003.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=873.92 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201444.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201444.78,3642.7542,N,-12211.2064,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201445.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.92 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201445.78,3642.7537,N,-12211.2066,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201446.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201446.78,3642.7532,N,-12211.2068,W,1,03,00.5,003.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=873.99 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201447.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201447.78,3642.7527,N,-12211.2069,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201448.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.01 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201448.78,3642.7522,N,-12211.2071,W,1,03,00.5,003.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 4159.995021 : TerrainNav update at dvl time = 4159.995021 : _navData-> (x,y) = (4063292.12, 572628.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201449.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4160.00 : 50.00 : Estimated East Bias at time = 4160.00 : 50.00 : Estimated Depth Bias at time = 4160.00 : 0.00 : Estimated northing and easting = 4063342.12 : 572678.91 : LayeredControl _resolvedCommand - vertMode=2 vert=874.16 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201449.78,3642.7518,N,-12211.2072,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201450.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201450.78,3642.7513,N,-12211.2073,W,1,03,00.5,003.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=874.26 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201451.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201451.79,3642.7508,N,-12211.2075,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201452.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.32 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201452.79,3642.7503,N,-12211.2076,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201453.79,3642.7498,N,-12211.2077,W,1,03,00.5,003.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=874.37 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201454.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201454.79,3642.7494,N,-12211.2078,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201455.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.39 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201455.79,3642.7488,N,-12211.2079,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201456.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.52 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201456.79,3642.7484,N,-12211.2081,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201457.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201457.79,3642.7478,N,-12211.2081,W,1,03,00.5,003.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=874.91 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201458.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201458.79,3642.7474,N,-12211.2082,W,1,03,00.5,003.0,M,-99.9,M,,*4c : TerrainNav update at nav time = 4169.994336 : TerrainNav update at dvl time = 4169.994336 : _navData-> (x,y) = (4063283.09, 572627.23) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4169.99 : 50.00 : Estimated East Bias at time = 4169.99 : 50.00 : Estimated Depth Bias at time = 4169.99 : 0.00 : Estimated northing and easting = 4063333.09 : 572677.23 : AshtechGps::processRecord() - $GPGGA,201459.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.61 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201459.79,3642.7469,N,-12211.2083,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201500.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201500.79,3642.7464,N,-12211.2084,W,1,03,00.5,003.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=874.72 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201501.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201501.79,3642.7459,N,-12211.2085,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201502.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.79 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201502.79,3642.7454,N,-12211.2086,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201503.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.79 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201503.79,3642.7449,N,-12211.2087,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201504.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201504.79,3642.7444,N,-12211.2088,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201505.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.18 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201505.79,3642.7439,N,-12211.2089,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201506.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.93 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201506.79,3642.7434,N,-12211.2090,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201507.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201507.79,3642.7429,N,-12211.2091,W,1,03,00.5,003.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=875.03 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201508.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201508.79,3642.7424,N,-12211.2091,W,1,03,00.5,002.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 4179.993651 : TerrainNav update at dvl time = 4179.993651 : _navData-> (x,y) = (4063273.97, 572625.96) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4179.99 : 50.00 : Estimated East Bias at time = 4179.99 : 50.00 : Estimated Depth Bias at time = 4179.99 : 0.00 : Estimated northing and easting = 4063323.97 : 572675.96 : AshtechGps::processRecord() - $GPGGA,201509.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201509.79,3642.7420,N,-12211.2092,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201510.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.11 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201510.79,3642.7415,N,-12211.2093,W,1,03,00.5,002.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201511.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 4229.80 Seconds. : The vehicle position is is (4063271.6, 572625.7) : NMEA Update: $GPGGA,201511.79,3642.7410,N,-12211.2094,W,1,03,00.5,002.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201512.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.64 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201512.79,3642.7405,N,-12211.2094,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201513.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.94 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201513.79,3642.7402,N,-12211.2094,W,1,03,00.5,002.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201514.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201514.79,3642.7397,N,-12211.2095,W,1,03,00.5,002.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=875.32 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201515.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201515.79,3642.7392,N,-12211.2095,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201516.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.30 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201516.79,3642.7387,N,-12211.2096,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201517.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.33 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201517.79,3642.7382,N,-12211.2097,W,1,03,00.5,002.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201518.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201518.79,3642.7377,N,-12211.2098,W,1,03,00.5,002.8,M,-99.9,M,,*4f : TerrainNav update at nav time = 4190.002965 : TerrainNav update at dvl time = 4190.002965 : _navData-> (x,y) = (4063265.25, 572625.06) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4190.00 : 50.00 : Estimated East Bias at time = 4190.00 : 50.00 : Estimated Depth Bias at time = 4190.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,201519.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.43 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated northing and easting = 4063315.25 : 572675.06 : NMEA Update: $GPGGA,201519.79,3642.7372,N,-12211.2099,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201520.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.31 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201520.79,3642.7368,N,-12211.2100,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201521.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201521.79,3642.7363,N,-12211.2101,W,1,03,00.5,002.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=875.45 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201522.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201522.79,3642.7357,N,-12211.2101,W,1,03,00.5,002.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201523.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.55 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201523.79,3642.7352,N,-12211.2102,W,1,03,00.5,002.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201524.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.60 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201524.79,3642.7347,N,-12211.2103,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201525.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201525.79,3642.7342,N,-12211.2104,W,1,03,00.5,002.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201526.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.69 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201526.79,3642.7338,N,-12211.2105,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201527.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.70 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201527.79,3642.7333,N,-12211.2105,W,1,03,00.5,002.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201528.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201528.79,3642.7328,N,-12211.2106,W,1,03,00.5,002.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 4200.002280 : TerrainNav update at dvl time = 4200.002280 : _navData-> (x,y) = (4063256.07, 572623.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=875.78 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated North Bias at time = 4200.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,201529.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 4200.00 : 50.00 : Estimated Depth Bias at time = 4200.00 : 0.00 : Estimated northing and easting = 4063306.07 : 572673.93 : NMEA Update: $GPGGA,201529.79,3642.7323,N,-12211.2107,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201530.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.84 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201530.79,3642.7317,N,-12211.2108,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201531.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.89 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201531.79,3642.7313,N,-12211.2109,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201532.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201532.79,3642.7308,N,-12211.2109,W,1,03,00.5,002.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201533.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.98 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201533.79,3642.7303,N,-12211.2110,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201534.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.00 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201534.79,3642.7297,N,-12211.2111,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201535.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201535.79,3642.7292,N,-12211.2112,W,1,03,00.5,002.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=876.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201536.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201536.79,3642.7287,N,-12211.2113,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201537.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.13 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201537.79,3642.7282,N,-12211.2114,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201538.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.14 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201538.79,3642.7277,N,-12211.2115,W,1,03,00.5,002.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 4210.001595 : TerrainNav update at dvl time = 4210.001595 : _navData-> (x,y) = (4063246.76, 572622.69) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4210.00 : 50.00 : Estimated East Bias at time = 4210.00 : 50.00 : Estimated Depth Bias at time = 4210.00 : 0.00 : Estimated northing and easting = 4063296.76 : 572672.69 : AshtechGps::processRecord() - $GPGGA,201539.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201539.79,3642.7273,N,-12211.2116,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201540.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.23 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201540.79,3642.7268,N,-12211.2117,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201541.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.28 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201541.79,3642.7263,N,-12211.2118,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201542.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201542.79,3642.7258,N,-12211.2119,W,1,03,00.5,002.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=876.30 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201543.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201543.79,3642.7253,N,-12211.2120,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201544.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.67 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201544.79,3642.7248,N,-12211.2121,W,1,03,00.5,002.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201545.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.40 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201545.79,3642.7243,N,-12211.2122,W,1,03,00.5,002.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201546.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201546.79,3642.7238,N,-12211.2123,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201547.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.50 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201547.79,3642.7233,N,-12211.2125,W,1,03,00.5,002.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201548.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.55 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201548.79,3642.7228,N,-12211.2126,W,1,03,00.5,002.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 4220.000910 : TerrainNav update at dvl time = 4220.000910 : _navData-> (x,y) = (4063237.66, 572621.18) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4220.00 : 50.00 : Estimated East Bias at time = 4220.00 : 50.00 : Estimated Depth Bias at time = 4220.00 : 0.00 : Estimated northing and easting = 4063287.66 : 572671.18 : AshtechGps::processRecord() - $GPGGA,201549.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201549.79,3642.7223,N,-12211.2127,W,1,03,00.5,002.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=876.57 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201550.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201550.79,3642.7219,N,-12211.2128,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201551.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.87 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201551.79,3642.7213,N,-12211.2129,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201552.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.11 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201552.79,3642.7209,N,-12211.2131,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201553.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201553.78,3642.7204,N,-12211.2132,W,1,03,00.5,002.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201554.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.72 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201554.78,3642.7199,N,-12211.2133,W,1,03,00.5,002.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201555.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.77 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201555.78,3642.7194,N,-12211.2134,W,1,03,00.5,002.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201556.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201556.78,3642.7189,N,-12211.2135,W,1,03,00.5,002.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=876.78 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201557.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201557.78,3642.7184,N,-12211.2136,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201558.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.89 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201558.78,3642.7179,N,-12211.2138,W,1,03,00.5,002.9,M,-99.9,M,,*4c : TerrainNav update at nav time = 4230.000225 : TerrainNav update at dvl time = 4230.000225 : _navData-> (x,y) = (4063228.50, 572619.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201559.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4230.00 : 50.00 : Estimated East Bias at time = 4230.00 : 50.00 : Estimated Depth Bias at time = 4230.00 : 0.00 : Estimated northing and easting = 4063278.50 : 572669.47 : LayeredControl _resolvedCommand - vertMode=2 vert=877.01 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201559.78,3642.7174,N,-12211.2139,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201600.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201600.78,3642.7169,N,-12211.2140,W,1,03,00.5,002.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201601.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.05 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201601.78,3642.7164,N,-12211.2141,W,1,03,00.5,002.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201602.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201602.78,3642.7159,N,-12211.2143,W,1,03,00.5,002.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201603.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201603.78,3642.7154,N,-12211.2144,W,1,03,00.5,002.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=877.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201604.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201604.78,3642.7149,N,-12211.2145,W,1,03,00.5,002.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201605.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.17 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201605.78,3642.7144,N,-12211.2146,W,1,03,00.5,002.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201606.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.27 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201606.78,3642.7140,N,-12211.2148,W,1,03,00.5,002.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201607.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201607.78,3642.7135,N,-12211.2149,W,1,03,00.5,002.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201608.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.35 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201608.78,3642.7130,N,-12211.2150,W,1,03,00.5,002.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 4239.999540 : TerrainNav update at dvl time = 4239.999540 : _navData-> (x,y) = (4063219.43, 572617.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201609.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4240.00 : 50.00 : Estimated East Bias at time = 4240.00 : 50.00 : Estimated Depth Bias at time = 4240.00 : 0.00 : Estimated northing and easting = 4063269.43 : 572667.72 : LayeredControl _resolvedCommand - vertMode=2 vert=877.42 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201609.78,3642.7125,N,-12211.2151,W,1,03,00.5,003.0,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201610.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201610.78,3642.7120,N,-12211.2152,W,1,03,00.5,003.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=877.46 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201611.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201611.78,3642.7115,N,-12211.2153,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201612.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.52 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201612.78,3642.7110,N,-12211.2154,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201613.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.52 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201613.78,3642.7105,N,-12211.2156,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201614.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201614.78,3642.7100,N,-12211.2157,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201615.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.61 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201615.78,3642.7096,N,-12211.2158,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201616.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.62 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201616.78,3642.7091,N,-12211.2159,W,1,03,00.5,003.0,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201617.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201617.78,3642.7086,N,-12211.2160,W,1,03,00.5,003.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=878.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201618.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201618.78,3642.7081,N,-12211.2162,W,1,03,00.5,003.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 4249.998855 : TerrainNav update at dvl time = 4249.998855 : _navData-> (x,y) = (4063210.31, 572616.03) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201619.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.77 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated North Bias at time = 4250.00 : 50.00 : Estimated East Bias at time = 4250.00 : 50.00 : Estimated Depth Bias at time = 4250.00 : 0.00 : Estimated northing and easting = 4063260.31 : 572666.03 : NMEA Update: $GPGGA,201619.78,3642.7076,N,-12211.2163,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201620.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.85 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201620.78,3642.7071,N,-12211.2164,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201621.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201621.78,3642.7066,N,-12211.2165,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201622.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.90 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201622.78,3642.7061,N,-12211.2167,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201623.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.96 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201623.78,3642.7056,N,-12211.2168,W,1,03,00.5,003.1,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201624.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201624.78,3642.7051,N,-12211.2169,W,1,03,00.5,003.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=878.00 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201625.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201625.78,3642.7046,N,-12211.2170,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201626.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.07 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201626.78,3642.7042,N,-12211.2171,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201627.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=878.09 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201627.78,3642.7037,N,-12211.2173,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201628.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201628.78,3642.7032,N,-12211.2174,W,1,03,00.5,003.1,M,-99.9,M,,*47 : TerrainNav update at nav time = 4259.998170 : TerrainNav update at dvl time = 4259.998170 : _navData-> (x,y) = (4063201.39, 572614.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201629.00,,,,,0,00,,,M,,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=878.13 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4260.00 : 50.00 : Estimated East Bias at time = 4260.00 : 50.00 : Estimated Depth Bias at time = 4260.00 : 0.00 : Estimated northing and easting = 4063251.39 : 572664.36 : NMEA Update: $GPGGA,201629.78,3642.7028,N,-12211.2175,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201630.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.18 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201630.78,3642.7023,N,-12211.2176,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201631.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201631.78,3642.7018,N,-12211.2177,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=878.21 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201632.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201632.78,3642.7013,N,-12211.2178,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201633.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.30 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201633.78,3642.7008,N,-12211.2179,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201634.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.81 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201634.78,3642.7004,N,-12211.2181,W,1,03,00.5,003.1,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201635.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201635.78,3642.6999,N,-12211.2182,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201636.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.48 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201636.78,3642.6994,N,-12211.2183,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201637.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.49 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201637.78,3642.6989,N,-12211.2184,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201638.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201638.78,3642.6984,N,-12211.2186,W,1,03,00.5,003.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 4269.997485 : TerrainNav update at dvl time = 4269.997485 : _navData-> (x,y) = (4063192.44, 572612.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=878.56 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201639.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4270.00 : 50.00 : Estimated East Bias at time = 4270.00 : 50.00 : Estimated Depth Bias at time = 4270.00 : 0.00 : Estimated northing and easting = 4063242.44 : 572662.65 : NMEA Update: $GPGGA,201639.78,3642.6979,N,-12211.2187,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201640.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.55 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201640.78,3642.6974,N,-12211.2188,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201641.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.07 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201641.78,3642.6970,N,-12211.2189,W,1,03,00.5,003.1,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201642.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201642.78,3642.6965,N,-12211.2190,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201643.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.61 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201643.78,3642.6960,N,-12211.2191,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201644.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.79 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201644.78,3642.6955,N,-12211.2193,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201645.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201645.78,3642.6950,N,-12211.2194,W,1,03,00.5,003.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=878.88 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201646.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201646.78,3642.6945,N,-12211.2195,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201647.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.92 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201647.78,3642.6940,N,-12211.2196,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201648.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.98 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201648.78,3642.6935,N,-12211.2197,W,1,03,00.5,003.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 4279.996800 : TerrainNav update at dvl time = 4279.996800 : _navData-> (x,y) = (4063183.37, 572611.06) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201649.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4280.00 : 50.00 : Estimated East Bias at time = 4280.00 : 50.00 : Estimated Depth Bias at time = 4280.00 : 0.00 : Estimated northing and easting = 4063233.37 : 572661.06 : NMEA Update: $GPGGA,201649.78,3642.6930,N,-12211.2198,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201650.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.08 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201650.78,3642.6925,N,-12211.2199,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201651.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.49 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201651.78,3642.6920,N,-12211.2200,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201652.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201652.78,3642.6916,N,-12211.2201,W,1,03,00.5,003.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=879.13 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201653.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201653.78,3642.6911,N,-12211.2203,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201654.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.15 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201654.78,3642.6906,N,-12211.2203,W,1,03,00.5,003.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201655.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.33 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201655.78,3642.6901,N,-12211.2204,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201656.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201656.78,3642.6896,N,-12211.2205,W,1,03,00.5,003.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=879.36 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201657.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201657.78,3642.6891,N,-12211.2206,W,1,03,00.5,003.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201658.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201658.78,3642.6886,N,-12211.2208,W,1,03,00.5,003.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 4289.996115 : TerrainNav update at dvl time = 4289.996115 : _navData-> (x,y) = (4063174.32, 572609.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201659.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4290.00 : 50.00 : Estimated East Bias at time = 4290.00 : 50.00 : Estimated Depth Bias at time = 4290.00 : 0.00 : Estimated northing and easting = 4063224.32 : 572659.51 : NMEA Update: $GPGGA,201659.78,3642.6881,N,-12211.2209,W,1,03,00.5,003.3,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.52 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201700.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201700.78,3642.6877,N,-12211.2210,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201701.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.58 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : WaypointHoming has set the state to finished. : WaypointHoming (4063270.2, 572626.5), reached at t = 4340.19 (wplog) : NMEA Update: $GPGGA,201701.78,3642.6872,N,-12211.2211,W,1,03,00.5,003.2,M,-99.9,M,,*43 : Vehicle Position error is (98.6, 17.4) : The distance to the waypoint is -100.1. : LayeredControl::execute() -- (t = 4340.192676) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 4340.20 (wplog) The current location (N,E) = 4063171.6 , 572609.0 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 115.8 Degrees. : WaypointHoming has set the state to finished. : WaypointHoming (4063162.6, 572627.7), reached at t = 4340.20 (wplog) : Vehicle Position error is (-9.0, 18.7) : The distance to the waypoint is 20.7. : LayeredControl::execute() -- (t = 4340.202676) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 4340.21. : LayeredControl::execute() -- (t = 4340.212675) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 4340.21 (wplog) The current location (N,E) = 4063171.6 , 572609.0 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 115.8 Degrees. : LayeredControl::execute() -- (t = 4340.212675) Behavior waypoint_homing:-1 has changed to state Active : CameraDriver::readData - starting a 40 photo sequence. : AshtechGps::processRecord() - $GPGGA,201702.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.62 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201703.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.65 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201704.18,3642.6860,N,-12211.2214,W,1,03,00.5,003.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201704.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201705.18,3642.6855,N,-12211.2214,W,1,03,00.5,003.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201705.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.80 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201706.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 4344.6 with dtw = 19.58 : NMEA Update: $GPGGA,201706.18,3642.6850,N,-12211.2215,W,1,03,00.5,003.3,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.92 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201707.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201707.18,3642.6845,N,-12211.2215,W,1,03,00.5,003.3,M,-99.9,M,,*42 : NMEA Update: $GPGGA,201708.18,3642.6840,N,-12211.2214,W,1,03,00.5,003.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201708.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.95 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4299.995430 : TerrainNav update at dvl time = 4299.995430 : _navData-> (x,y) = (4063165.33, 572608.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201709.18,3642.6836,N,-12211.2214,W,1,03,00.5,003.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201709.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4300.00 : 50.00 : Estimated East Bias at time = 4300.00 : 50.00 : Estimated Depth Bias at time = 4300.00 : 0.00 : Estimated northing and easting = 4063215.33 : 572658.63 : LayeredControl _resolvedCommand - vertMode=2 vert=880.04 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201710.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201710.18,3642.6832,N,-12211.2212,W,1,03,00.5,003.4,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=880.12 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201711.18,3642.6828,N,-12211.2210,W,1,03,00.5,003.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201711.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201712.18,3642.6824,N,-12211.2208,W,1,03,00.5,003.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201712.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.13 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201713.18,3642.6820,N,-12211.2205,W,1,03,00.5,003.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201713.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.19 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201714.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201714.18,3642.6818,N,-12211.2202,W,1,03,00.5,003.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201715.00,,,,,0,00,,,M,,M,,*48 : NMEA Update: $GPGGA,201715.18,3642.6815,N,-12211.2199,W,1,03,00.5,003.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.13 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201716.18,3642.6813,N,-12211.2195,W,1,03,00.5,003.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201716.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.15 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201717.18,3642.6811,N,-12211.2191,W,1,03,00.5,003.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201717.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201717.99,3642.6810,N,-12211.2188,W,1,03,00.5,003.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=880.10 horzlMode=3 horz=2.02 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201718.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4309.994745 : TerrainNav update at dvl time = 4309.994745 : _navData-> (x,y) = (4063160.13, 572613.05) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 4357.39 Seconds. : The vehicle position is (4063160.1, 572613.2) : NMEA Update: $GPGGA,201718.99,3642.6809,N,-12211.2184,W,1,03,00.5,003.6,M,-99.9,M,,*43 : Estimated North Bias at time = 4309.99 : 50.00 : Estimated East Bias at time = 4309.99 : 50.00 : Estimated Depth Bias at time = 4309.99 : 0.00 : Estimated northing and easting = 4063210.13 : 572663.05 : AshtechGps::processRecord() - $GPGGA,201719.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.06 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201719.99,3642.6809,N,-12211.2180,W,1,03,00.5,003.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201720.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201720.99,3642.6809,N,-12211.2176,W,1,03,00.5,003.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201721.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201721.99,3642.6809,N,-12211.2172,W,1,03,00.5,003.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201722.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201722.99,3642.6809,N,-12211.2167,W,1,03,00.5,003.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201723.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201723.99,3642.6809,N,-12211.2163,W,1,03,00.5,003.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201724.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 4363.19 Seconds. : The vehicle position is is (4063160.1, 572616.8) : NMEA Update: $GPGGA,201724.99,3642.6809,N,-12211.2159,W,1,03,00.5,003.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=879.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201725.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 4364.19 Seconds. : The vehicle position is (4063160.2, 572617.4) : NMEA Update: $GPGGA,201725.99,3642.6809,N,-12211.2154,W,1,03,00.5,003.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201726.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 4365.20 Seconds. : The vehicle position is is (4063160.2, 572618.1) : NMEA Update: $GPGGA,201726.99,3642.6810,N,-12211.2150,W,1,03,00.5,003.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201727.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201727.99,3642.6810,N,-12211.2145,W,1,03,00.5,003.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201728.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4319.994060 : TerrainNav update at dvl time = 4319.994060 : _navData-> (x,y) = (4063160.29, 572619.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201728.99,3642.6810,N,-12211.2140,W,1,03,00.5,003.3,M,-99.9,M,,*45 : Estimated North Bias at time = 4319.99 : 49.00 : Estimated East Bias at time = 4319.99 : 49.00 : Estimated Depth Bias at time = 4319.99 : 0.00 : Estimated northing and easting = 4063209.29 : 572668.52 : AshtechGps::processRecord() - $GPGGA,201729.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201729.99,3642.6810,N,-12211.2135,W,1,03,00.5,003.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201730.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 4368.60 Seconds. : The vehicle position is (4063160.3, 572620.6) : LayeredControl _resolvedCommand - vertMode=2 vert=880.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201730.99,3642.6810,N,-12211.2130,W,1,03,00.5,003.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201731.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 4369.60 Seconds. : The vehicle position is is (4063160.3, 572621.3) : NMEA Update: $GPGGA,201731.99,3642.6810,N,-12211.2125,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201732.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201732.99,3642.6810,N,-12211.2120,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201733.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201733.99,3642.6809,N,-12211.2115,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201734.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=880.35 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201734.99,3642.6809,N,-12211.2110,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201735.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 4374.20 Seconds. : The vehicle position is (4063160.1, 572624.8) : NMEA Update: $GPGGA,201735.99,3642.6809,N,-12211.2104,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201736.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 4375.40 Seconds. : The vehicle position is is (4063160.0, 572625.8) : NMEA Update: $GPGGA,201736.99,3642.6808,N,-12211.2099,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201737.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201737.99,3642.6808,N,-12211.2093,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201738.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4329.993375 : TerrainNav update at dvl time = 4329.993375 : _navData-> (x,y) = (4063159.93, 572627.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201738.99,3642.6808,N,-12211.2088,W,1,03,00.5,003.0,M,-99.9,M,,*4b : Estimated North Bias at time = 4329.99 : 50.00 : Estimated East Bias at time = 4329.99 : 50.00 : Estimated Depth Bias at time = 4329.99 : 0.00 : Estimated northing and easting = 4063209.93 : 572677.29 : AshtechGps::processRecord() - $GPGGA,201739.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201739.99,3642.6807,N,-12211.2082,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201740.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201740.99,3642.6807,N,-12211.2077,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201741.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201741.99,3642.6808,N,-12211.2072,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201742.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201742.99,3642.6808,N,-12211.2070,W,1,03,00.5,002.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201743.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201743.99,3642.6810,N,-12211.2065,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201744.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201744.99,3642.6810,N,-12211.2059,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201745.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201745.99,3642.6809,N,-12211.2053,W,1,03,00.5,002.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201746.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201746.99,3642.6809,N,-12211.2047,W,1,03,00.5,002.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201747.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201747.99,3642.6808,N,-12211.2042,W,1,03,00.5,002.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201748.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 4340.002689 : TerrainNav update at dvl time = 4340.002689 : _navData-> (x,y) = (4063160.08, 572635.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=879.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201748.99,3642.6808,N,-12211.2036,W,1,03,00.5,002.4,M,-99.9,M,,*4c : Estimated North Bias at time = 4340.00 : 50.00 : Estimated East Bias at time = 4340.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,201749.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 4340.00 : 0.00 : Estimated northing and easting = 4063210.08 : 572685.06 : NMEA Update: $GPGGA,201749.99,3642.6808,N,-12211.2030,W,1,03,00.5,002.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201750.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.91 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201750.99,3642.6807,N,-12211.2023,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201751.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201751.99,3642.6807,N,-12211.2018,W,1,03,00.5,002.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201752.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201752.99,3642.6806,N,-12211.2012,W,1,03,00.5,002.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201753.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201753.99,3642.6806,N,-12211.2006,W,1,03,00.5,002.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201754.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201754.99,3642.6806,N,-12211.2000,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201755.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201755.99,3642.6805,N,-12211.1994,W,1,03,00.5,002.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201756.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201756.99,3642.6805,N,-12211.1989,W,1,03,00.5,002.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201757.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201757.99,3642.6804,N,-12211.1983,W,1,03,00.5,002.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201758.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4350.002004 : TerrainNav update at dvl time = 4350.002004 : _navData-> (x,y) = (4063159.36, 572643.74) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201758.99,3642.6804,N,-12211.1977,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201759.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4350.00 : 50.00 : Estimated East Bias at time = 4350.00 : 50.00 : Estimated Depth Bias at time = 4350.00 : 0.00 : Estimated northing and easting = 4063209.36 : 572693.74 : NMEA Update: $GPGGA,201759.99,3642.6803,N,-12211.1971,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201800.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201800.99,3642.6803,N,-12211.1965,W,1,03,00.5,002.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201801.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.91 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201801.99,3642.6803,N,-12211.1960,W,1,03,00.5,002.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201802.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201802.99,3642.6802,N,-12211.1953,W,1,03,00.5,002.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201803.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201803.99,3642.6802,N,-12211.1947,W,1,03,00.5,002.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201804.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201804.99,3642.6801,N,-12211.1941,W,1,03,00.5,002.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201805.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201805.99,3642.6801,N,-12211.1935,W,1,03,00.5,002.1,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201806.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201806.99,3642.6801,N,-12211.1928,W,1,03,00.5,002.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201807.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201807.99,3642.6800,N,-12211.1922,W,1,03,00.5,002.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201808.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4360.001319 : TerrainNav update at dvl time = 4360.001319 : _navData-> (x,y) = (4063158.81, 572652.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201808.99,3642.6800,N,-12211.1917,W,1,03,00.5,002.0,M,-99.9,M,,*42 : Estimated North Bias at time = 4360.00 : 50.00 : Estimated East Bias at time = 4360.00 : 50.00 : Estimated Depth Bias at time = 4360.00 : 0.00 : Estimated northing and easting = 4063208.81 : 572702.81 : AshtechGps::processRecord() - $GPGGA,201809.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=880.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201809.99,3642.6800,N,-12211.1911,W,1,03,00.5,002.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201810.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201810.99,3642.6799,N,-12211.1905,W,1,03,00.5,002.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201811.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201811.99,3642.6799,N,-12211.1899,W,1,03,00.5,002.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201812.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.73 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201812.99,3642.6799,N,-12211.1893,W,1,03,00.5,001.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201813.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201813.99,3642.6798,N,-12211.1887,W,1,03,00.5,002.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201814.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201814.99,3642.6798,N,-12211.1881,W,1,03,00.5,001.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201815.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201815.99,3642.6798,N,-12211.1875,W,1,03,00.5,001.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201816.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201816.99,3642.6797,N,-12211.1869,W,1,03,00.5,001.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201817.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201817.99,3642.6797,N,-12211.1863,W,1,03,00.5,001.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201818.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.64 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4370.000634 : TerrainNav update at dvl time = 4370.000634 : _navData-> (x,y) = (4063158.23, 572661.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201818.99,3642.6797,N,-12211.1857,W,1,03,00.5,002.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201819.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4370.00 : 50.00 : Estimated East Bias at time = 4370.00 : 50.00 : Estimated Depth Bias at time = 4370.00 : 0.00 : Estimated northing and easting = 4063208.23 : 572711.66 : LayeredControl _resolvedCommand - vertMode=2 vert=879.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201819.98,3642.6796,N,-12211.1851,W,1,03,00.5,001.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201820.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 4419.40 Seconds. : The vehicle position is (4063158.1, 572663.6) : NMEA Update: $GPGGA,201820.98,3642.6796,N,-12211.1845,W,1,03,00.5,002.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201821.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.65 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201821.98,3642.6796,N,-12211.1839,W,1,03,00.5,002.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201822.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201822.98,3642.6795,N,-12211.1833,W,1,03,00.5,002.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201823.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 4421.60 Seconds. : The vehicle position is is (4063157.9, 572665.6) : LayeredControl _resolvedCommand - vertMode=2 vert=879.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201823.98,3642.6795,N,-12211.1827,W,1,03,00.5,002.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201824.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201824.98,3642.6794,N,-12211.1821,W,1,03,00.5,002.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201825.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201825.98,3642.6793,N,-12211.1814,W,1,03,00.5,002.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201826.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201826.98,3642.6793,N,-12211.1808,W,1,03,00.5,002.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201827.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201827.98,3642.6793,N,-12211.1802,W,1,03,00.5,002.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201828.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.91 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4379.999949 : TerrainNav update at dvl time = 4379.999949 : _navData-> (x,y) = (4063157.56, 572670.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201828.98,3642.6793,N,-12211.1796,W,1,03,00.5,002.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201829.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4380.00 : 50.00 : Estimated East Bias at time = 4380.00 : 50.00 : Estimated Depth Bias at time = 4380.00 : 0.00 : Estimated northing and easting = 4063207.56 : 572720.76 : LayeredControl _resolvedCommand - vertMode=2 vert=879.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201829.98,3642.6792,N,-12211.1790,W,1,03,00.5,002.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201830.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201830.98,3642.6792,N,-12211.1783,W,1,03,00.5,002.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201831.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201831.98,3642.6791,N,-12211.1778,W,1,03,00.5,002.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201832.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201832.98,3642.6791,N,-12211.1772,W,1,03,00.5,002.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201833.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201833.98,3642.6791,N,-12211.1765,W,1,03,00.5,002.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201834.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201834.98,3642.6790,N,-12211.1759,W,1,03,00.5,002.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201835.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.37 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201835.98,3642.6790,N,-12211.1753,W,1,03,00.5,002.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201836.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.37 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201836.98,3642.6789,N,-12211.1747,W,1,03,00.5,002.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201837.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201837.98,3642.6789,N,-12211.1741,W,1,03,00.5,002.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201838.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4389.999264 : TerrainNav update at dvl time = 4389.999264 : _navData-> (x,y) = (4063156.91, 572679.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201838.98,3642.6789,N,-12211.1735,W,1,03,00.5,002.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201839.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4390.00 : 50.00 : Estimated East Bias at time = 4390.00 : 50.00 : Estimated Depth Bias at time = 4390.00 : 0.00 : Estimated northing and easting = 4063206.91 : 572729.88 : LayeredControl _resolvedCommand - vertMode=2 vert=879.38 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201839.98,3642.6788,N,-12211.1728,W,1,03,00.5,002.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201840.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.35 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201840.98,3642.6788,N,-12211.1722,W,1,03,00.5,002.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201841.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201841.98,3642.6787,N,-12211.1716,W,1,03,00.5,002.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201842.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.24 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201842.98,3642.6787,N,-12211.1710,W,1,03,00.5,002.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201843.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201843.98,3642.6786,N,-12211.1703,W,1,03,00.5,002.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201844.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201844.98,3642.6786,N,-12211.1697,W,1,03,00.5,002.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201845.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201845.98,3642.6786,N,-12211.1691,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201846.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201846.98,3642.6785,N,-12211.1684,W,1,03,00.5,002.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201847.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201847.98,3642.6785,N,-12211.1678,W,1,03,00.5,002.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201848.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4399.998580 : TerrainNav update at dvl time = 4399.998580 : _navData-> (x,y) = (4063156.31, 572689.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201848.98,3642.6785,N,-12211.1672,W,1,03,00.5,002.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201849.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 4400.00 : 50.00 : Estimated East Bias at time = 4400.00 : 50.00 : Estimated Depth Bias at time = 4400.00 : 0.00 : Estimated northing and easting = 4063206.31 : 572739.18 : NMEA Update: $GPGGA,201849.98,3642.6785,N,-12211.1666,W,1,03,00.5,002.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201850.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201850.98,3642.6785,N,-12211.1659,W,1,03,00.5,002.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201851.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201851.98,3642.6785,N,-12211.1653,W,1,03,00.5,002.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201852.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201852.98,3642.6786,N,-12211.1647,W,1,03,00.5,002.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201853.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.05 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201853.98,3642.6786,N,-12211.1641,W,1,03,00.5,002.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201854.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201854.98,3642.6787,N,-12211.1635,W,1,03,00.5,002.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201855.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201855.98,3642.6788,N,-12211.1629,W,1,03,00.5,002.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201856.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201856.98,3642.6789,N,-12211.1623,W,1,03,00.5,002.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201857.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201857.98,3642.6791,N,-12211.1617,W,1,03,00.5,002.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201858.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4409.997895 : TerrainNav update at dvl time = 4409.997895 : _navData-> (x,y) = (4063157.70, 572698.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=879.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201858.98,3642.6793,N,-12211.1612,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201859.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4410.00 : 50.00 : Estimated East Bias at time = 4410.00 : 50.00 : Estimated Depth Bias at time = 4410.00 : 0.00 : Estimated northing and easting = 4063207.70 : 572748.16 : NMEA Update: $GPGGA,201859.98,3642.6794,N,-12211.1607,W,1,03,00.5,002.5,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201900.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.83 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201900.98,3642.6796,N,-12211.1601,W,1,03,00.5,002.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201901.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.82 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201901.98,3642.6799,N,-12211.1596,W,1,03,00.5,002.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201902.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201902.98,3642.6801,N,-12211.1591,W,1,03,00.5,002.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201903.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201903.98,3642.6804,N,-12211.1586,W,1,03,00.5,002.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201904.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 4463.19 Seconds. : The vehicle position is (4063160.2, 572702.7) : NMEA Update: $GPGGA,201904.98,3642.6806,N,-12211.1581,W,1,03,00.5,002.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201905.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201905.98,3642.6809,N,-12211.1577,W,1,03,00.5,002.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201906.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201906.98,3642.6812,N,-12211.1572,W,1,03,00.5,002.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201907.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201907.98,3642.6815,N,-12211.1568,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201908.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4419.997210 : TerrainNav update at dvl time = 4419.997210 : _navData-> (x,y) = (4063162.45, 572705.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201908.98,3642.6818,N,-12211.1563,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201909.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4420.00 : 50.00 : Estimated East Bias at time = 4420.00 : 50.00 : Estimated Depth Bias at time = 4420.00 : 0.00 : Estimated northing and easting = 4063212.45 : 572755.42 : NMEA Update: $GPGGA,201909.98,3642.6822,N,-12211.1559,W,1,03,00.5,002.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=878.40 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201910.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 4469.19 Seconds. : The vehicle position is is (4063163.7, 572706.7) : NMEA Update: $GPGGA,201910.98,3642.6825,N,-12211.1555,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201911.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.37 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201911.98,3642.6828,N,-12211.1551,W,1,03,00.5,002.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201912.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201912.98,3642.6832,N,-12211.1547,W,1,03,00.5,002.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201913.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201913.98,3642.6836,N,-12211.1543,W,1,03,00.5,002.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201914.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201914.98,3642.6839,N,-12211.1539,W,1,03,00.5,002.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201915.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=878.07 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201915.98,3642.6843,N,-12211.1536,W,1,03,00.5,002.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201916.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201916.98,3642.6847,N,-12211.1532,W,1,03,00.5,002.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201917.00,,,,,0,00,,,M,,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=878.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201917.98,3642.6851,N,-12211.1529,W,1,03,00.5,002.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201918.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 4429.996524 : TerrainNav update at dvl time = 4429.996524 : _navData-> (x,y) = (4063169.29, 572710.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201918.98,3642.6855,N,-12211.1526,W,1,03,00.5,002.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201919.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4430.00 : 50.00 : Estimated East Bias at time = 4430.00 : 50.00 : Estimated Depth Bias at time = 4430.00 : 0.00 : Estimated northing and easting = 4063219.29 : 572760.98 : LayeredControl _resolvedCommand - vertMode=2 vert=877.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201919.98,3642.6859,N,-12211.1522,W,1,03,00.5,002.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201920.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201920.98,3642.6863,N,-12211.1519,W,1,03,00.5,002.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201921.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201921.98,3642.6868,N,-12211.1516,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201922.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201922.98,3642.6871,N,-12211.1512,W,1,03,00.5,002.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201923.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201923.98,3642.6876,N,-12211.1509,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201924.00,,,,,0,00,,,M,,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=877.70 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201924.98,3642.6880,N,-12211.1506,W,1,03,00.5,002.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201925.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201925.98,3642.6884,N,-12211.1502,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201926.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201926.98,3642.6889,N,-12211.1499,W,1,03,00.5,002.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201927.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201927.98,3642.6893,N,-12211.1496,W,1,03,00.5,002.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201928.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4439.995839 : TerrainNav update at dvl time = 4439.995839 : _navData-> (x,y) = (4063177.06, 572715.80) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201928.98,3642.6897,N,-12211.1493,W,1,03,00.5,002.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201929.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4440.00 : 50.00 : Estimated East Bias at time = 4440.00 : 50.00 : Estimated Depth Bias at time = 4440.00 : 0.00 : Estimated northing and easting = 4063227.06 : 572765.80 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201929.98,3642.6902,N,-12211.1490,W,1,03,00.5,002.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201930.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201930.98,3642.6906,N,-12211.1487,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201931.00,,,,,0,00,,,M,,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=877.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201931.98,3642.6911,N,-12211.1484,W,1,03,00.5,002.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201932.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.34 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201932.98,3642.6915,N,-12211.1481,W,1,03,00.5,002.4,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201933.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201933.98,3642.6919,N,-12211.1478,W,1,03,00.5,002.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201934.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201934.98,3642.6924,N,-12211.1475,W,1,03,00.5,002.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201935.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.17 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201935.98,3642.6929,N,-12211.1472,W,1,03,00.5,002.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201936.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201936.98,3642.6933,N,-12211.1470,W,1,03,00.5,002.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201937.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201937.98,3642.6938,N,-12211.1467,W,1,03,00.5,002.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=877.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201938.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4449.995154 : TerrainNav update at dvl time = 4449.995154 : _navData-> (x,y) = (4063185.51, 572719.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201938.98,3642.6943,N,-12211.1465,W,1,03,00.5,002.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201939.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4450.00 : 50.00 : Estimated East Bias at time = 4450.00 : 50.00 : Estimated Depth Bias at time = 4450.00 : 0.00 : Estimated northing and easting = 4063235.51 : 572769.86 : LayeredControl _resolvedCommand - vertMode=2 vert=876.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201939.98,3642.6948,N,-12211.1463,W,1,03,00.5,002.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201940.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201940.98,3642.6952,N,-12211.1460,W,1,03,00.5,002.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201941.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201941.98,3642.6957,N,-12211.1458,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201942.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.73 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201942.98,3642.6962,N,-12211.1456,W,1,03,00.5,002.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201943.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201943.79,3642.6966,N,-12211.1454,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201944.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201944.79,3642.6971,N,-12211.1452,W,1,03,00.5,002.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=876.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201945.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201945.79,3642.6976,N,-12211.1450,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201946.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201946.79,3642.6981,N,-12211.1448,W,1,03,00.5,002.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201947.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201947.79,3642.6986,N,-12211.1446,W,1,03,00.5,002.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=876.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201948.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201948.79,3642.6990,N,-12211.1444,W,1,03,00.5,002.4,M,-99.9,M,,*4e : TerrainNav update at nav time = 4459.994469 : TerrainNav update at dvl time = 4459.994469 : _navData-> (x,y) = (4063194.52, 572722.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201949.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 4459.99 : 50.00 : Estimated East Bias at time = 4459.99 : 50.00 : Estimated Depth Bias at time = 4459.99 : 0.00 : Estimated northing and easting = 4063244.52 : 572772.98 : NMEA Update: $GPGGA,201949.79,3642.6995,N,-12211.1442,W,1,03,00.5,002.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201950.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201950.79,3642.7000,N,-12211.1441,W,1,03,00.5,002.5,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201951.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201951.79,3642.7005,N,-12211.1439,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201952.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.32 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201952.79,3642.7010,N,-12211.1437,W,1,03,00.5,002.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201953.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201953.79,3642.7015,N,-12211.1436,W,1,03,00.5,002.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201954.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201954.79,3642.7020,N,-12211.1434,W,1,03,00.5,002.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=876.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,201955.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201955.79,3642.7025,N,-12211.1433,W,1,03,00.5,002.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201956.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201956.79,3642.7030,N,-12211.1431,W,1,03,00.5,002.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201957.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,201957.79,3642.7035,N,-12211.1429,W,1,03,00.5,002.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201958.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,201958.79,3642.7040,N,-12211.1428,W,1,03,00.5,002.5,M,-99.9,M,,*41 : TerrainNav update at nav time = 4469.993784 : TerrainNav update at dvl time = 4469.993784 : _navData-> (x,y) = (4063203.66, 572725.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,201959.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 4469.99 : 49.00 : Estimated East Bias at time = 4469.99 : 49.00 : Estimated Depth Bias at time = 4469.99 : 0.00 : Estimated northing and easting = 4063252.66 : 572774.32 : NMEA Update: $GPGGA,201959.79,3642.7045,N,-12211.1427,W,1,03,00.5,002.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202000.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202000.79,3642.7050,N,-12211.1425,W,1,03,00.5,002.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202001.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202001.79,3642.7055,N,-12211.1423,W,1,03,00.5,002.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=875.82 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202002.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202002.79,3642.7060,N,-12211.1422,W,1,03,00.5,002.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202003.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202003.79,3642.7065,N,-12211.1421,W,1,03,00.5,002.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202004.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=875.69 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202004.79,3642.7070,N,-12211.1419,W,1,03,00.5,002.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202005.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202005.79,3642.7075,N,-12211.1418,W,1,03,00.5,002.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202006.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202006.79,3642.7080,N,-12211.1417,W,1,03,00.5,002.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202007.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.88 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202007.79,3642.7085,N,-12211.1415,W,1,03,00.5,002.5,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202008.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202008.79,3642.7090,N,-12211.1414,W,1,03,00.5,002.5,M,-99.9,M,,*4c : TerrainNav update at nav time = 4480.003099 : TerrainNav update at dvl time = 4480.003099 : _navData-> (x,y) = (4063213.04, 572727.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=875.54 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202009.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4480.00 : 49.00 : Estimated East Bias at time = 4480.00 : 49.00 : Estimated Depth Bias at time = 4480.00 : 0.00 : Estimated northing and easting = 4063262.04 : 572776.35 : NMEA Update: $GPGGA,202009.79,3642.7095,N,-12211.1412,W,1,03,00.5,002.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202010.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202010.79,3642.7100,N,-12211.1411,W,1,03,00.5,002.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202011.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=875.41 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202011.79,3642.7105,N,-12211.1410,W,1,03,00.5,002.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202012.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202012.79,3642.7111,N,-12211.1409,W,1,03,00.5,002.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202013.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202013.79,3642.7116,N,-12211.1407,W,1,03,00.5,002.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202014.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.35 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202014.79,3642.7120,N,-12211.1406,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202015.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202015.79,3642.7125,N,-12211.1405,W,1,03,00.5,002.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=875.18 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202016.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202016.79,3642.7130,N,-12211.1404,W,1,03,00.5,002.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202017.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202017.79,3642.7136,N,-12211.1402,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202018.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202018.79,3642.7141,N,-12211.1401,W,1,03,00.5,002.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 4490.002414 : TerrainNav update at dvl time = 4490.002414 : _navData-> (x,y) = (4063222.38, 572729.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202019.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4490.00 : 49.00 : Estimated East Bias at time = 4490.00 : 49.00 : Estimated Depth Bias at time = 4490.00 : 0.00 : Estimated northing and easting = 4063271.38 : 572778.15 : NMEA Update: $GPGGA,202019.79,3642.7146,N,-12211.1400,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202020.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202020.79,3642.7151,N,-12211.1399,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202021.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202021.79,3642.7156,N,-12211.1398,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202022.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202022.79,3642.7161,N,-12211.1397,W,1,03,00.5,002.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=874.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202023.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202023.79,3642.7166,N,-12211.1396,W,1,03,00.5,002.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202024.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.83 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202024.79,3642.7172,N,-12211.1395,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202025.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.82 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202025.79,3642.7177,N,-12211.1394,W,1,03,00.5,002.6,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202026.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202026.79,3642.7182,N,-12211.1393,W,1,03,00.5,002.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202027.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202027.79,3642.7187,N,-12211.1392,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202028.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.65 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202028.79,3642.7192,N,-12211.1391,W,1,03,00.5,002.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 4500.001729 : TerrainNav update at dvl time = 4500.001729 : _navData-> (x,y) = (4063231.90, 572730.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202029.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4500.00 : 49.00 : Estimated East Bias at time = 4500.00 : 49.00 : Estimated Depth Bias at time = 4500.00 : 0.00 : Estimated northing and easting = 4063280.90 : 572779.57 : NMEA Update: $GPGGA,202029.79,3642.7197,N,-12211.1390,W,1,03,00.5,002.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=874.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202030.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202030.79,3642.7203,N,-12211.1389,W,1,03,00.5,002.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202031.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202031.79,3642.7208,N,-12211.1388,W,1,03,00.5,002.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202032.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.48 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202032.79,3642.7213,N,-12211.1387,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202033.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202033.79,3642.7218,N,-12211.1386,W,1,03,00.5,002.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202034.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.36 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202034.79,3642.7223,N,-12211.1385,W,1,03,00.5,002.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202035.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.38 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202035.79,3642.7228,N,-12211.1384,W,1,03,00.5,002.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202036.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202036.79,3642.7233,N,-12211.1383,W,1,03,00.5,002.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=874.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202037.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202037.79,3642.7238,N,-12211.1382,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202038.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202038.79,3642.7243,N,-12211.1381,W,1,03,00.5,002.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 4510.001044 : TerrainNav update at dvl time = 4510.001044 : _navData-> (x,y) = (4063241.38, 572732.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202039.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4510.00 : 49.00 : Estimated East Bias at time = 4510.00 : 49.00 : Estimated Depth Bias at time = 4510.00 : 0.00 : Estimated northing and easting = 4063290.38 : 572781.04 : LayeredControl _resolvedCommand - vertMode=2 vert=874.18 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202039.79,3642.7248,N,-12211.1379,W,1,03,00.5,002.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202040.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202040.79,3642.7254,N,-12211.1378,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202041.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202041.79,3642.7259,N,-12211.1377,W,1,03,00.5,002.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202042.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202042.79,3642.7264,N,-12211.1376,W,1,03,00.5,002.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202043.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202043.79,3642.7269,N,-12211.1375,W,1,03,00.5,002.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=874.05 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202044.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202044.79,3642.7274,N,-12211.1374,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202045.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202045.78,3642.7279,N,-12211.1373,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202046.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202046.78,3642.7284,N,-12211.1372,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202047.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202047.78,3642.7289,N,-12211.1371,W,1,03,00.5,002.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202048.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202048.78,3642.7294,N,-12211.1370,W,1,03,00.5,002.7,M,-99.9,M,,*48 : TerrainNav update at nav time = 4520.000359 : TerrainNav update at dvl time = 4520.000359 : _navData-> (x,y) = (4063250.82, 572733.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202049.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4520.00 : 49.00 : Estimated East Bias at time = 4520.00 : 49.00 : Estimated Depth Bias at time = 4520.00 : 0.00 : Estimated northing and easting = 4063299.82 : 572782.59 : LayeredControl _resolvedCommand - vertMode=2 vert=873.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202049.78,3642.7299,N,-12211.1369,W,1,03,00.5,002.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202050.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202050.78,3642.7304,N,-12211.1368,W,1,03,00.5,002.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=874.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202051.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202051.78,3642.7310,N,-12211.1366,W,1,03,00.5,002.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202052.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.70 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202052.78,3642.7315,N,-12211.1365,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202053.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202053.78,3642.7320,N,-12211.1364,W,1,03,00.5,002.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202054.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202054.78,3642.7325,N,-12211.1363,W,1,03,00.5,002.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202055.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202055.78,3642.7330,N,-12211.1362,W,1,03,00.5,002.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202056.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202056.78,3642.7335,N,-12211.1361,W,1,03,00.5,002.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202057.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202057.78,3642.7340,N,-12211.1360,W,1,03,00.5,002.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=873.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202058.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202058.78,3642.7345,N,-12211.1359,W,1,03,00.5,002.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 4529.999674 : TerrainNav update at dvl time = 4529.999674 : _navData-> (x,y) = (4063260.21, 572735.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202059.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 4530.00 : 48.00 : Estimated East Bias at time = 4530.00 : 48.00 : Estimated Depth Bias at time = 4530.00 : 0.00 : Estimated northing and easting = 4063308.21 : 572783.17 : NMEA Update: $GPGGA,202059.78,3642.7350,N,-12211.1357,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202100.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.38 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202100.78,3642.7355,N,-12211.1356,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202101.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202101.78,3642.7360,N,-12211.1355,W,1,03,00.5,002.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202102.00,,,,,0,00,,,M,,M,,*4B : LayeredControl _resolvedCommand - vertMode=2 vert=873.34 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202102.78,3642.7365,N,-12211.1354,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202103.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202103.78,3642.7370,N,-12211.1353,W,1,03,00.5,002.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202104.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202104.78,3642.7376,N,-12211.1352,W,1,03,00.5,002.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=873.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202105.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202105.78,3642.7381,N,-12211.1351,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202106.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202106.78,3642.7386,N,-12211.1350,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202107.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202107.78,3642.7391,N,-12211.1349,W,1,03,00.5,002.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202108.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202108.78,3642.7396,N,-12211.1348,W,1,03,00.5,002.8,M,-99.9,M,,*4a : TerrainNav update at nav time = 4539.998989 : TerrainNav update at dvl time = 4539.998989 : _navData-> (x,y) = (4063269.60, 572736.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202109.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 4540.00 : 48.00 : Estimated East Bias at time = 4540.00 : 48.00 : Estimated Depth Bias at time = 4540.00 : 0.00 : Estimated northing and easting = 4063317.60 : 572784.71 : NMEA Update: $GPGGA,202109.78,3642.7401,N,-12211.1346,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202110.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202110.78,3642.7405,N,-12211.1345,W,1,03,00.5,002.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202111.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202111.78,3642.7410,N,-12211.1344,W,1,03,00.5,002.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=872.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202112.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202112.78,3642.7416,N,-12211.1343,W,1,03,00.5,002.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202113.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202113.78,3642.7421,N,-12211.1342,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202114.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202114.78,3642.7426,N,-12211.1341,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202115.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202115.78,3642.7431,N,-12211.1340,W,1,03,00.5,002.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202116.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.83 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202116.78,3642.7436,N,-12211.1338,W,1,03,00.5,002.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202117.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202117.78,3642.7441,N,-12211.1337,W,1,03,00.5,002.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202118.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202118.78,3642.7446,N,-12211.1336,W,1,03,00.5,002.8,M,-99.9,M,,*48 : TerrainNav update at nav time = 4549.998304 : TerrainNav update at dvl time = 4549.998304 : _navData-> (x,y) = (4063278.89, 572738.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=872.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202119.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4550.00 : 48.00 : Estimated East Bias at time = 4550.00 : 48.00 : Estimated Depth Bias at time = 4550.00 : 0.00 : Estimated northing and easting = 4063326.89 : 572786.34 : WaypointHoming has set the state to finished. : WaypointHoming (4063181.2, 572721.3), reached at t = 4598.20 (wplog) : NMEA Update: $GPGGA,202119.78,3642.7451,N,-12211.1335,W,1,03,00.5,002.8,M,-99.9,M,,*4c : Vehicle Position error is (-98.6, -17.2) : The distance to the waypoint is -100.1. : LayeredControl::execute() -- (t = 4598.205001) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 4598.21 (wplog) The current location (N,E) = 4063279.9 , 572738.5 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 223.4 Degrees. : LayeredControl::execute() -- (t = 4598.205001) Behavior waypoint_homing:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,202120.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.92 horzlMode=3 horz=3.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202120.78,3642.7456,N,-12211.1334,W,1,03,00.5,002.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202121.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.62 horzlMode=3 horz=3.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202121.78,3642.7461,N,-12211.1333,W,1,03,00.5,002.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202122.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202122.78,3642.7466,N,-12211.1332,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202123.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.57 horzlMode=3 horz=3.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202123.78,3642.7471,N,-12211.1331,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202124.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.55 horzlMode=3 horz=3.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202124.78,3642.7476,N,-12211.1331,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202125.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202125.78,3642.7482,N,-12211.1331,W,1,03,00.5,003.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=872.47 horzlMode=3 horz=3.90 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202126.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202126.78,3642.7486,N,-12211.1331,W,1,03,00.5,003.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202127.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.50 horzlMode=3 horz=3.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202127.78,3642.7491,N,-12211.1333,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202128.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.49 horzlMode=3 horz=3.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202128.78,3642.7496,N,-12211.1334,W,1,03,00.5,003.0,M,-99.9,M,,*4d : TerrainNav update at nav time = 4559.997619 : TerrainNav update at dvl time = 4559.997619 : _navData-> (x,y) = (4063288.09, 572738.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202129.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4560.00 : 49.00 : Estimated East Bias at time = 4560.00 : 49.00 : Estimated Depth Bias at time = 4560.00 : 0.00 : Estimated northing and easting = 4063337.09 : 572787.59 : NMEA Update: $GPGGA,202129.78,3642.7500,N,-12211.1336,W,1,03,00.5,003.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=872.35 horzlMode=3 horz=3.90 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202130.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202130.78,3642.7504,N,-12211.1339,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202131.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.86 horzlMode=3 horz=3.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202131.78,3642.7508,N,-12211.1342,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202132.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 4611.0 with dtw = 168.25 : WaypointHoming: The Usbl has aquired the transponder at t = 4610.99 Seconds. : The vehicle position is (4063290.8, 572737.1) : WaypointHoming:: Beacon has exited the Usbl Fov at t = 4611.2 with dtw = 145.24 : WaypointHoming: The Usbl does NOT detect the transponder at t = 4611.19 Seconds. : NMEA Update: $GPGGA,202132.78,3642.7511,N,-12211.1345,W,1,03,00.5,003.2,M,-99.9,M,,*4c : The vehicle position is is (4063290.9, 572736.9) : LayeredControl _resolvedCommand - vertMode=2 vert=872.34 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202133.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202133.78,3642.7514,N,-12211.1349,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202134.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.15 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202134.78,3642.7516,N,-12211.1352,W,1,03,00.5,003.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202135.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.23 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202135.78,3642.7518,N,-12211.1356,W,1,03,00.5,003.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202136.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202136.78,3642.7520,N,-12211.1361,W,1,03,00.5,003.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202137.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.00 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202137.78,3642.7522,N,-12211.1365,W,1,03,00.5,003.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202138.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202138.78,3642.7523,N,-12211.1370,W,1,03,00.5,003.5,M,-99.9,M,,*46 : TerrainNav update at nav time = 4569.996934 : TerrainNav update at dvl time = 4569.996934 : _navData-> (x,y) = (4063293.06, 572733.26) : _tercom->outstandingMeas() = 0 : WaypointHoming:: Beacon is in the Usbl Fov at t = 4617.4 with dtw = 146.81 : WaypointHoming: The Usbl has aquired the transponder at t = 4617.39 Seconds. : The vehicle position is (4063293.1, 572733.1) : AshtechGps::processRecord() - $GPGGA,202139.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4570.00 : 49.00 : Estimated East Bias at time = 4570.00 : 49.00 : Estimated Depth Bias at time = 4570.00 : 0.00 : Estimated northing and easting = 4063342.06 : 572782.26 : WaypointHoming has set the state to finished. : WaypointHoming (4063284.4, 572619.4), reached at t = 4617.79 (wplog) : Vehicle Position error is (-8.8, -113.5) : The distance to the waypoint is 28.4. : LayeredControl::execute() -- (t = 4617.793659) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 4617.80. : LayeredControl::execute() -- (t = 4617.803659) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 4617.80 (wplog) The current location (N,E) = 4063293.2 , 572732.9 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 218.8 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 4617.8 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 4617.80 Seconds. : The vehicle position is (4063293.2, 572732.9) : LayeredControl::execute() -- (t = 4617.813658) Behavior waypoint_homing:-1 has changed to state Active : CameraDriver::readData - starting a 40 photo sequence. : LayeredControl _resolvedCommand - vertMode=2 vert=871.86 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202140.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,202141.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.99 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202141.78,3642.7525,N,-12211.1384,W,1,03,00.5,003.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202142.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=871.98 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202142.78,3642.7526,N,-12211.1389,W,1,03,00.5,003.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202143.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202143.78,3642.7527,N,-12211.1394,W,1,03,00.5,003.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202144.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.03 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202144.78,3642.7527,N,-12211.1399,W,1,03,00.5,003.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202145.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202145.78,3642.7528,N,-12211.1404,W,1,03,00.5,003.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202146.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202146.78,3642.7528,N,-12211.1409,W,1,03,00.5,003.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=872.16 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202147.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202147.78,3642.7528,N,-12211.1414,W,1,03,00.5,003.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202148.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.20 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202148.78,3642.7528,N,-12211.1420,W,1,03,00.5,003.6,M,-99.9,M,,*4b : TerrainNav update at nav time = 4579.996249 : TerrainNav update at dvl time = 4579.996249 : _navData-> (x,y) = (4063294.05, 572725.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202149.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4580.00 : 49.00 : Estimated East Bias at time = 4580.00 : 49.00 : Estimated Depth Bias at time = 4580.00 : 0.00 : Estimated northing and easting = 4063343.05 : 572774.80 : LayeredControl _resolvedCommand - vertMode=2 vert=872.12 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202149.78,3642.7529,N,-12211.1425,W,1,03,00.5,003.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202150.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202150.78,3642.7529,N,-12211.1431,W,1,03,00.5,003.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202151.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.17 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202151.78,3642.7529,N,-12211.1437,W,1,03,00.5,003.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202152.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.22 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202152.78,3642.7530,N,-12211.1442,W,1,03,00.5,003.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202153.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202153.78,3642.7530,N,-12211.1448,W,1,03,00.5,003.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=872.57 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202154.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202154.78,3642.7530,N,-12211.1454,W,1,03,00.5,003.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202155.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.21 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202155.78,3642.7530,N,-12211.1460,W,1,03,00.5,003.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202156.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.23 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202156.78,3642.7531,N,-12211.1467,W,1,03,00.5,003.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202157.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202157.78,3642.7531,N,-12211.1473,W,1,03,00.5,003.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=872.23 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202158.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202158.78,3642.7532,N,-12211.1479,W,1,03,00.5,003.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 4589.995564 : TerrainNav update at dvl time = 4589.995564 : _navData-> (x,y) = (4063294.56, 572716.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202159.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4590.00 : 50.00 : Estimated East Bias at time = 4590.00 : 50.00 : Estimated Depth Bias at time = 4590.00 : 0.00 : Estimated northing and easting = 4063344.56 : 572766.97 : LayeredControl _resolvedCommand - vertMode=2 vert=872.27 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202159.78,3642.7532,N,-12211.1485,W,1,03,00.5,003.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202200.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202200.78,3642.7532,N,-12211.1491,W,1,03,00.5,003.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=872.69 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202201.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202201.78,3642.7532,N,-12211.1498,W,1,03,00.5,003.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202202.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.29 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202202.78,3642.7533,N,-12211.1504,W,1,03,00.5,003.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202203.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.31 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202203.78,3642.7533,N,-12211.1510,W,1,03,00.5,003.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202204.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202204.78,3642.7533,N,-12211.1516,W,1,03,00.5,003.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=872.36 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202205.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202205.78,3642.7534,N,-12211.1523,W,1,03,00.5,003.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202206.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.26 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202206.78,3642.7534,N,-12211.1529,W,1,03,00.5,003.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202207.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202207.78,3642.7535,N,-12211.1535,W,1,03,00.5,003.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=872.33 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202208.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202208.78,3642.7535,N,-12211.1542,W,1,03,00.5,003.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 4599.994879 : TerrainNav update at dvl time = 4599.994879 : _navData-> (x,y) = (4063295.11, 572707.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202209.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4599.99 : 50.00 : Estimated East Bias at time = 4599.99 : 50.00 : Estimated Depth Bias at time = 4599.99 : 0.00 : Estimated northing and easting = 4063345.11 : 572757.62 : LayeredControl _resolvedCommand - vertMode=2 vert=872.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202209.79,3642.7535,N,-12211.1548,W,1,03,00.5,003.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202210.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202210.79,3642.7536,N,-12211.1555,W,1,03,00.5,003.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202211.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202211.79,3642.7537,N,-12211.1561,W,1,03,00.5,003.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202212.00,,,,,0,00,,,M,,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=872.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202212.79,3642.7537,N,-12211.1568,W,1,03,00.5,003.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202213.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.41 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202213.79,3642.7537,N,-12211.1574,W,1,03,00.5,003.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202214.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202214.79,3642.7538,N,-12211.1580,W,1,03,00.5,003.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=872.53 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202215.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202215.79,3642.7538,N,-12211.1587,W,1,03,00.5,003.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202216.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202216.79,3642.7539,N,-12211.1594,W,1,03,00.5,003.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202217.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.52 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202217.79,3642.7539,N,-12211.1600,W,1,03,00.5,003.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202218.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202218.79,3642.7539,N,-12211.1607,W,1,03,00.5,003.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 4609.994194 : TerrainNav update at dvl time = 4609.994194 : _navData-> (x,y) = (4063295.82, 572697.85) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202219.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.59 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated North Bias at time = 4609.99 : 49.00 : Estimated East Bias at time = 4609.99 : 49.00 : Estimated Depth Bias at time = 4609.99 : 0.00 : Estimated northing and easting = 4063344.82 : 572746.85 : NMEA Update: $GPGGA,202219.79,3642.7540,N,-12211.1614,W,1,03,00.5,003.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202220.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.56 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202220.79,3642.7540,N,-12211.1620,W,1,03,00.5,003.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202221.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202221.79,3642.7540,N,-12211.1627,W,1,03,00.5,003.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=872.64 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202222.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202222.79,3642.7541,N,-12211.1633,W,1,03,00.5,003.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202223.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.62 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202223.79,3642.7541,N,-12211.1640,W,1,03,00.5,003.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202224.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.67 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202224.79,3642.7542,N,-12211.1646,W,1,03,00.5,003.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202225.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202225.79,3642.7542,N,-12211.1653,W,1,03,00.5,003.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202226.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.73 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202226.79,3642.7542,N,-12211.1659,W,1,03,00.5,003.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202227.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.74 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202227.79,3642.7543,N,-12211.1666,W,1,03,00.5,003.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202228.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202228.79,3642.7544,N,-12211.1672,W,1,03,00.5,003.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 4619.993509 : TerrainNav update at dvl time = 4619.993509 : _navData-> (x,y) = (4063296.51, 572688.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=872.81 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202229.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4619.99 : 49.00 : Estimated East Bias at time = 4619.99 : 49.00 : Estimated Depth Bias at time = 4619.99 : 0.00 : Estimated northing and easting = 4063345.51 : 572737.17 : NMEA Update: $GPGGA,202229.79,3642.7544,N,-12211.1678,W,1,03,00.5,003.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202230.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.79 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202230.79,3642.7545,N,-12211.1685,W,1,03,00.5,003.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202231.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202231.79,3642.7545,N,-12211.1691,W,1,03,00.5,003.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202232.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202232.79,3642.7545,N,-12211.1698,W,1,03,00.5,003.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202233.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.82 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202233.79,3642.7545,N,-12211.1705,W,1,03,00.5,003.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202234.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.90 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202234.79,3642.7546,N,-12211.1711,W,1,03,00.5,003.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202235.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202235.79,3642.7546,N,-12211.1717,W,1,03,00.5,003.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=872.92 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202236.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202236.79,3642.7547,N,-12211.1723,W,1,03,00.5,003.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202237.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.89 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202237.79,3642.7547,N,-12211.1730,W,1,03,00.5,003.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202238.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.92 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202238.79,3642.7547,N,-12211.1736,W,1,03,00.5,003.5,M,-99.9,M,,*40 : TerrainNav update at nav time = 4630.002823 : TerrainNav update at dvl time = 4630.002823 : _navData-> (x,y) = (4063297.16, 572678.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202239.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4630.00 : 49.00 : Estimated East Bias at time = 4630.00 : 49.00 : Estimated Depth Bias at time = 4630.00 : 0.00 : Estimated northing and easting = 4063346.16 : 572727.62 : NMEA Update: $GPGGA,202239.79,3642.7548,N,-12211.1743,W,1,03,00.5,003.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202240.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.03 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202240.79,3642.7548,N,-12211.1750,W,1,03,00.5,003.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202241.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.97 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202241.79,3642.7548,N,-12211.1756,W,1,03,00.5,003.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202242.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202242.79,3642.7549,N,-12211.1763,W,1,03,00.5,003.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=873.05 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202243.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202243.79,3642.7549,N,-12211.1769,W,1,03,00.5,003.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202244.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.10 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202244.79,3642.7549,N,-12211.1776,W,1,03,00.5,003.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202245.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.15 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202245.79,3642.7550,N,-12211.1782,W,1,03,00.5,003.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202246.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202246.79,3642.7550,N,-12211.1788,W,1,03,00.5,003.5,M,-99.9,M,,*4a : WaypointHoming: The Usbl does NOT detect the transponder at t = 4685.40 Seconds. : The vehicle position is is (4063297.6, 572670.7) : AshtechGps::processRecord() - $GPGGA,202247.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.62 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202247.79,3642.7551,N,-12211.1795,W,1,03,00.5,003.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202248.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 4686.60 Seconds. : The vehicle position is (4063297.7, 572669.5) : LayeredControl _resolvedCommand - vertMode=2 vert=873.16 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202248.79,3642.7551,N,-12211.1802,W,1,03,00.5,003.5,M,-99.9,M,,*48 : TerrainNav update at nav time = 4640.002138 : TerrainNav update at dvl time = 4640.002138 : _navData-> (x,y) = (4063297.74, 572668.85) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202249.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4640.00 : 49.00 : Estimated East Bias at time = 4640.00 : 49.00 : Estimated Depth Bias at time = 4640.00 : 0.00 : Estimated northing and easting = 4063346.74 : 572717.85 : NMEA Update: $GPGGA,202249.79,3642.7551,N,-12211.1809,W,1,03,00.5,003.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=873.30 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202250.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202250.79,3642.7552,N,-12211.1815,W,1,03,00.5,003.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202251.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.29 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202251.79,3642.7552,N,-12211.1822,W,1,03,00.5,003.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202252.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.31 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202252.79,3642.7552,N,-12211.1828,W,1,03,00.5,003.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202253.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202253.79,3642.7553,N,-12211.1835,W,1,03,00.5,003.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202254.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202254.79,3642.7553,N,-12211.1841,W,1,03,00.5,003.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202255.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 4693.60 Seconds. : The vehicle position is is (4063298.0, 572662.6) : LayeredControl _resolvedCommand - vertMode=2 vert=873.40 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202255.79,3642.7553,N,-12211.1848,W,1,03,00.5,003.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202256.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 4694.60 Seconds. : The vehicle position is (4063298.1, 572661.7) : NMEA Update: $GPGGA,202256.79,3642.7554,N,-12211.1854,W,1,03,00.5,003.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=873.35 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202257.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202257.79,3642.7554,N,-12211.1860,W,1,03,00.5,003.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202258.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.45 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202258.79,3642.7554,N,-12211.1867,W,1,03,00.5,003.4,M,-99.9,M,,*4e : TerrainNav update at nav time = 4650.001453 : TerrainNav update at dvl time = 4650.001453 : _navData-> (x,y) = (4063298.29, 572659.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202259.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4650.00 : 49.00 : Estimated East Bias at time = 4650.00 : 49.00 : Estimated Depth Bias at time = 4650.00 : 0.00 : Estimated northing and easting = 4063347.29 : 572708.21 : LayeredControl _resolvedCommand - vertMode=2 vert=873.48 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202259.79,3642.7555,N,-12211.1873,W,1,03,00.5,003.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202300.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202300.79,3642.7555,N,-12211.1879,W,1,03,00.5,003.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202301.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.89 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202301.79,3642.7556,N,-12211.1885,W,1,03,00.5,003.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202302.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.53 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202302.79,3642.7556,N,-12211.1892,W,1,03,00.5,003.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202303.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202303.79,3642.7556,N,-12211.1898,W,1,03,00.5,003.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=873.61 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202304.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202304.79,3642.7557,N,-12211.1905,W,1,03,00.5,003.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202305.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.57 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202305.79,3642.7557,N,-12211.1911,W,1,03,00.5,003.4,M,-99.9,M,,*44 : WaypointHoming: The Usbl does NOT detect the transponder at t = 4704.40 Seconds. : The vehicle position is is (4063298.8, 572652.4) : AshtechGps::processRecord() - $GPGGA,202306.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.71 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202306.79,3642.7558,N,-12211.1918,W,1,03,00.5,003.3,M,-99.9,M,,*46 : WaypointHoming: The Usbl has aquired the transponder at t = 4705.40 Seconds. : The vehicle position is (4063298.8, 572651.5) : AshtechGps::processRecord() - $GPGGA,202307.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202307.79,3642.7558,N,-12211.1924,W,1,03,00.5,003.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202308.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.72 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202308.79,3642.7558,N,-12211.1930,W,1,03,00.5,003.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 4660.000768 : TerrainNav update at dvl time = 4660.000768 : _navData-> (x,y) = (4063298.93, 572649.72) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202309.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4660.00 : 48.00 : Estimated East Bias at time = 4660.00 : 48.00 : Estimated Depth Bias at time = 4660.00 : 0.00 : Estimated northing and easting = 4063346.93 : 572697.72 : LayeredControl _resolvedCommand - vertMode=2 vert=873.72 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202309.79,3642.7559,N,-12211.1937,W,1,03,00.5,003.3,M,-99.9,M,,*45 : WaypointHoming: The Usbl does NOT detect the transponder at t = 4708.40 Seconds. : The vehicle position is is (4063299.0, 572648.6) : AshtechGps::processRecord() - $GPGGA,202310.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202310.79,3642.7559,N,-12211.1943,W,1,03,00.5,003.3,M,-99.9,M,,*4e : WaypointHoming: The Usbl has aquired the transponder at t = 4709.40 Seconds. : The vehicle position is (4063299.0, 572647.6) : LayeredControl _resolvedCommand - vertMode=2 vert=873.76 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202311.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202311.78,3642.7559,N,-12211.1950,W,1,03,00.5,003.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202312.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.81 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202312.78,3642.7558,N,-12211.1956,W,1,03,00.5,003.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202313.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.87 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202313.78,3642.7557,N,-12211.1962,W,1,03,00.5,003.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202314.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202314.78,3642.7557,N,-12211.1969,W,1,03,00.5,003.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202315.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.91 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202315.78,3642.7555,N,-12211.1975,W,1,03,00.5,003.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202316.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.03 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202316.78,3642.7554,N,-12211.1981,W,1,03,00.5,003.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202317.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202317.78,3642.7553,N,-12211.1987,W,1,03,00.5,003.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=874.03 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202318.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202318.78,3642.7551,N,-12211.1993,W,1,03,00.5,003.4,M,-99.9,M,,*45 : TerrainNav update at nav time = 4670.000083 : TerrainNav update at dvl time = 4670.000083 : _navData-> (x,y) = (4063297.50, 572640.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202319.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.92 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated North Bias at time = 4670.00 : 49.00 : Estimated East Bias at time = 4670.00 : 49.00 : Estimated Depth Bias at time = 4670.00 : 0.00 : Estimated northing and easting = 4063346.50 : 572689.44 : NMEA Update: $GPGGA,202319.78,3642.7549,N,-12211.1998,W,1,03,00.5,003.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202320.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.18 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202320.78,3642.7547,N,-12211.2004,W,1,03,00.5,003.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202321.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202321.78,3642.7544,N,-12211.2010,W,1,03,00.5,003.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202322.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.23 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202322.78,3642.7542,N,-12211.2015,W,1,03,00.5,003.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202323.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.20 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202323.78,3642.7539,N,-12211.2020,W,1,03,00.5,003.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202324.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202324.78,3642.7537,N,-12211.2025,W,1,03,00.5,003.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=874.31 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202325.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202325.78,3642.7534,N,-12211.2030,W,1,03,00.5,003.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202326.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.21 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202326.78,3642.7531,N,-12211.2034,W,1,03,00.5,003.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202327.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.30 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202327.78,3642.7528,N,-12211.2039,W,1,03,00.5,003.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202328.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202328.78,3642.7525,N,-12211.2043,W,1,03,00.5,003.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 4679.999398 : TerrainNav update at dvl time = 4679.999398 : _navData-> (x,y) = (4063292.55, 572633.01) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202329.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.36 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated North Bias at time = 4680.00 : 49.00 : Estimated East Bias at time = 4680.00 : 49.00 : Estimated Depth Bias at time = 4680.00 : 0.00 : Estimated northing and easting = 4063341.55 : 572682.01 : NMEA Update: $GPGGA,202329.78,3642.7521,N,-12211.2047,W,1,03,00.5,003.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202330.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.37 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202330.78,3642.7518,N,-12211.2052,W,1,03,00.5,003.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202331.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202331.78,3642.7514,N,-12211.2056,W,1,03,00.5,003.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=874.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202332.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202332.78,3642.7511,N,-12211.2059,W,1,03,00.5,003.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202333.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.59 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202333.78,3642.7507,N,-12211.2063,W,1,03,00.5,003.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202334.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.69 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202334.78,3642.7503,N,-12211.2067,W,1,03,00.5,003.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202335.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202335.78,3642.7500,N,-12211.2071,W,1,03,00.5,003.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202336.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.65 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202336.78,3642.7496,N,-12211.2074,W,1,03,00.5,003.7,M,-99.9,M,,*43 : WaypointHoming: The Usbl does NOT detect the transponder at t = 4735.40 Seconds. : The vehicle position is is (4063287.1, 572628.3) : AshtechGps::processRecord() - $GPGGA,202337.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.67 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202337.78,3642.7492,N,-12211.2078,W,1,03,00.5,003.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202338.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202338.78,3642.7488,N,-12211.2081,W,1,03,00.5,003.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 4689.998713 : TerrainNav update at dvl time = 4689.998713 : _navData-> (x,y) = (4063285.76, 572627.37) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=875.17 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202339.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4690.00 : 49.00 : Estimated East Bias at time = 4690.00 : 49.00 : Estimated Depth Bias at time = 4690.00 : 0.00 : Estimated northing and easting = 4063334.76 : 572676.37 : NMEA Update: $GPGGA,202339.78,3642.7484,N,-12211.2085,W,1,03,00.5,003.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202340.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.86 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202340.78,3642.7480,N,-12211.2088,W,1,03,00.5,003.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202341.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.95 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202341.78,3642.7476,N,-12211.2092,W,1,03,00.5,003.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202342.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202342.78,3642.7472,N,-12211.2095,W,1,03,00.5,003.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202343.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202343.78,3642.7468,N,-12211.2099,W,1,03,00.5,003.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202344.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.99 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202344.78,3642.7464,N,-12211.2103,W,1,03,00.5,003.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202345.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202345.78,3642.7460,N,-12211.2106,W,1,03,00.5,003.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=875.12 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202346.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202346.78,3642.7456,N,-12211.2109,W,1,03,00.5,003.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202347.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.18 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202347.78,3642.7452,N,-12211.2112,W,1,03,00.5,003.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202348.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.26 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202348.78,3642.7448,N,-12211.2116,W,1,03,00.5,003.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 4699.998028 : TerrainNav update at dvl time = 4699.998028 : _navData-> (x,y) = (4063278.26, 572622.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202349.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4700.00 : 50.00 : Estimated East Bias at time = 4700.00 : 50.00 : Estimated Depth Bias at time = 4700.00 : 0.00 : Estimated northing and easting = 4063328.26 : 572672.28 : NMEA Update: $GPGGA,202349.78,3642.7444,N,-12211.2119,W,1,03,00.5,003.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202350.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.70 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202350.78,3642.7439,N,-12211.2122,W,1,03,00.5,003.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202351.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.34 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202351.78,3642.7435,N,-12211.2126,W,1,03,00.5,003.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202352.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202352.78,3642.7430,N,-12211.2128,W,1,03,00.5,003.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=875.54 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202353.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202353.78,3642.7426,N,-12211.2131,W,1,03,00.5,003.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202354.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.45 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202354.78,3642.7421,N,-12211.2134,W,1,03,00.5,003.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202355.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.57 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202355.78,3642.7417,N,-12211.2137,W,1,03,00.5,003.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202356.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202356.78,3642.7412,N,-12211.2139,W,1,03,00.5,003.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202357.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.68 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202357.78,3642.7408,N,-12211.2141,W,1,03,00.5,003.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202358.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.52 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202358.78,3642.7403,N,-12211.2144,W,1,03,00.5,003.4,M,-99.9,M,,*46 : TerrainNav update at nav time = 4709.997343 : TerrainNav update at dvl time = 4709.997343 : _navData-> (x,y) = (4063270.00, 572618.21) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4710.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,202359.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 4710.00 : 50.00 : Estimated Depth Bias at time = 4710.00 : 0.00 : Estimated northing and easting = 4063320.00 : 572668.21 : NMEA Update: $GPGGA,202359.78,3642.7399,N,-12211.2146,W,1,03,00.5,003.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=875.78 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202400.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202400.78,3642.7394,N,-12211.2148,W,1,03,00.5,003.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202401.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202401.78,3642.7390,N,-12211.2150,W,1,03,00.5,003.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202402.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.86 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202402.78,3642.7385,N,-12211.2152,W,1,03,00.5,003.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202403.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202403.78,3642.7380,N,-12211.2154,W,1,03,00.5,003.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202404.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.95 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202404.78,3642.7376,N,-12211.2156,W,1,03,00.5,003.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202405.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.03 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202405.78,3642.7371,N,-12211.2158,W,1,03,00.5,003.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202406.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202406.78,3642.7366,N,-12211.2160,W,1,03,00.5,003.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=876.15 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202407.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202407.78,3642.7361,N,-12211.2162,W,1,03,00.5,003.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202408.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.13 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202408.78,3642.7357,N,-12211.2164,W,1,03,00.5,003.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 4719.996658 : TerrainNav update at dvl time = 4719.996658 : _navData-> (x,y) = (4063261.35, 572615.34) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4720.00 : 50.00 : Estimated East Bias at time = 4720.00 : 50.00 : Estimated Depth Bias at time = 4720.00 : 0.00 : Estimated northing and easting = 4063311.35 : 572665.34 : AshtechGps::processRecord() - $GPGGA,202409.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.19 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202409.78,3642.7352,N,-12211.2165,W,1,03,00.5,003.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202410.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202410.78,3642.7347,N,-12211.2167,W,1,03,00.5,003.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=876.28 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202411.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202411.78,3642.7343,N,-12211.2169,W,1,03,00.5,003.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202412.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.24 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202412.78,3642.7338,N,-12211.2170,W,1,03,00.5,003.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202413.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202413.78,3642.7333,N,-12211.2172,W,1,03,00.5,003.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=876.40 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202414.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202414.78,3642.7328,N,-12211.2174,W,1,03,00.5,003.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202415.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.43 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202415.78,3642.7323,N,-12211.2175,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202416.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.82 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202416.78,3642.7319,N,-12211.2177,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202417.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202417.78,3642.7314,N,-12211.2178,W,1,03,00.5,003.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=876.46 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202418.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202418.78,3642.7309,N,-12211.2179,W,1,03,00.5,003.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 4729.995973 : TerrainNav update at dvl time = 4729.995973 : _navData-> (x,y) = (4063252.48, 572613.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202419.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4730.00 : 50.00 : Estimated East Bias at time = 4730.00 : 50.00 : Estimated Depth Bias at time = 4730.00 : 0.00 : Estimated northing and easting = 4063302.48 : 572663.07 : LayeredControl _resolvedCommand - vertMode=2 vert=876.56 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202419.78,3642.7304,N,-12211.2181,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202420.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202420.78,3642.7299,N,-12211.2182,W,1,03,00.5,003.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=877.07 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202421.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202421.78,3642.7294,N,-12211.2184,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202422.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.60 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202422.78,3642.7289,N,-12211.2185,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202423.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.88 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202423.78,3642.7284,N,-12211.2186,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202424.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202424.78,3642.7280,N,-12211.2187,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202425.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.94 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202425.78,3642.7275,N,-12211.2188,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202426.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.93 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202426.78,3642.7270,N,-12211.2190,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202427.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202427.78,3642.7265,N,-12211.2191,W,1,03,00.5,003.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=876.98 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202428.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202428.78,3642.7260,N,-12211.2192,W,1,03,00.5,003.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 4739.995288 : TerrainNav update at dvl time = 4739.995288 : _navData-> (x,y) = (4063243.53, 572611.28) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4740.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,202429.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 4740.00 : 50.00 : Estimated Depth Bias at time = 4740.00 : 0.00 : Estimated northing and easting = 4063293.53 : 572661.28 : LayeredControl _resolvedCommand - vertMode=2 vert=877.05 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202429.78,3642.7256,N,-12211.2193,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202430.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.93 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202430.78,3642.7251,N,-12211.2194,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202431.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202431.78,3642.7246,N,-12211.2195,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202432.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.22 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202432.78,3642.7241,N,-12211.2196,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202433.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.10 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202433.78,3642.7236,N,-12211.2197,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202434.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202434.78,3642.7231,N,-12211.2198,W,1,03,00.5,003.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=877.28 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202435.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202435.59,3642.7227,N,-12211.2198,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202436.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.29 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202436.59,3642.7222,N,-12211.2200,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202437.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202437.59,3642.7217,N,-12211.2201,W,1,03,00.5,003.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=877.39 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202438.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202438.59,3642.7212,N,-12211.2202,W,1,03,00.5,003.1,M,-99.9,M,,*46 : TerrainNav update at nav time = 4749.994603 : TerrainNav update at dvl time = 4749.994603 : _navData-> (x,y) = (4063234.44, 572609.86) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.45 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202439.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4749.99 : 50.00 : Estimated East Bias at time = 4749.99 : 50.00 : Estimated Depth Bias at time = 4749.99 : 0.00 : Estimated northing and easting = 4063284.44 : 572659.86 : NMEA Update: $GPGGA,202439.59,3642.7207,N,-12211.2203,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202440.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.51 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202440.59,3642.7202,N,-12211.2204,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202441.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202441.59,3642.7198,N,-12211.2205,W,1,03,00.5,003.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=877.60 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202442.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202442.59,3642.7193,N,-12211.2206,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202443.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.64 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202443.59,3642.7188,N,-12211.2207,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202444.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202444.59,3642.7183,N,-12211.2208,W,1,03,00.5,003.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=877.74 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202445.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202445.59,3642.7178,N,-12211.2209,W,1,03,00.5,003.0,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202446.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202446.59,3642.7173,N,-12211.2210,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202447.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.80 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202447.59,3642.7168,N,-12211.2210,W,1,03,00.5,003.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202448.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202448.59,3642.7163,N,-12211.2211,W,1,03,00.5,003.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 4759.993918 : TerrainNav update at dvl time = 4759.993918 : _navData-> (x,y) = (4063225.28, 572608.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=877.90 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : Estimated North Bias at time = 4759.99 : 50.00 : Estimated East Bias at time = 4759.99 : 50.00 : Estimated Depth Bias at time = 4759.99 : 0.00 : Estimated northing and easting = 4063275.28 : 572658.49 : AshtechGps::processRecord() - $GPGGA,202449.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202449.59,3642.7158,N,-12211.2212,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202450.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.95 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202450.59,3642.7153,N,-12211.2213,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202451.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202451.59,3642.7148,N,-12211.2214,W,1,03,00.5,003.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=878.35 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202452.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202452.59,3642.7143,N,-12211.2215,W,1,03,00.5,003.0,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202453.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.07 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202453.59,3642.7139,N,-12211.2216,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202454.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.22 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202454.59,3642.7134,N,-12211.2216,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202455.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202455.59,3642.7129,N,-12211.2217,W,1,03,00.5,003.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=878.24 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202456.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202456.59,3642.7124,N,-12211.2218,W,1,03,00.5,003.0,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202457.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.28 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202457.59,3642.7119,N,-12211.2219,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202458.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202458.59,3642.7114,N,-12211.2220,W,1,03,00.5,003.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=878.29 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4770.003232 : TerrainNav update at dvl time = 4770.003232 : _navData-> (x,y) = (4063216.29, 572607.33) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4770.00 : 50.00 : Estimated East Bias at time = 4770.00 : 50.00 : Estimated Depth Bias at time = 4770.00 : 0.00 : Estimated northing and easting = 4063266.29 : 572657.33 : AshtechGps::processRecord() - $GPGGA,202459.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202459.59,3642.7109,N,-12211.2221,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202500.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.38 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202500.59,3642.7104,N,-12211.2221,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202501.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.26 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202501.59,3642.7099,N,-12211.2222,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202502.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202502.59,3642.7094,N,-12211.2223,W,1,03,00.5,003.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=878.46 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202503.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202503.59,3642.7090,N,-12211.2224,W,1,03,00.5,003.0,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202504.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.53 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202504.59,3642.7085,N,-12211.2225,W,1,03,00.5,003.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202505.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202505.59,3642.7080,N,-12211.2226,W,1,03,00.5,003.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=878.58 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202506.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202506.59,3642.7075,N,-12211.2226,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202507.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.67 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202507.59,3642.7071,N,-12211.2227,W,1,03,00.5,002.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202508.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.72 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202508.59,3642.7066,N,-12211.2228,W,1,03,00.5,002.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 4780.002548 : TerrainNav update at dvl time = 4780.002548 : _navData-> (x,y) = (4063207.35, 572606.17) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4780.00 : 50.00 : Estimated East Bias at time = 4780.00 : 50.00 : Estimated Depth Bias at time = 4780.00 : 0.00 : Estimated northing and easting = 4063257.35 : 572656.17 : AshtechGps::processRecord() - $GPGGA,202509.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202509.59,3642.7061,N,-12211.2229,W,1,03,00.5,003.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=878.85 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202510.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202510.59,3642.7056,N,-12211.2230,W,1,03,00.5,003.0,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202511.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.22 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202511.59,3642.7051,N,-12211.2231,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202512.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202512.59,3642.7046,N,-12211.2232,W,1,03,00.5,003.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=878.91 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202513.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202513.59,3642.7041,N,-12211.2233,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202514.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.97 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202514.59,3642.7036,N,-12211.2234,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202515.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.06 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202515.59,3642.7031,N,-12211.2235,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202516.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202516.59,3642.7027,N,-12211.2236,W,1,03,00.5,003.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=878.97 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202517.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202517.59,3642.7022,N,-12211.2237,W,1,03,00.5,003.0,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202518.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.13 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202518.59,3642.7017,N,-12211.2238,W,1,03,00.5,003.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 4790.001862 : TerrainNav update at dvl time = 4790.001862 : _navData-> (x,y) = (4063198.25, 572604.77) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4790.00 : 50.00 : Estimated East Bias at time = 4790.00 : 50.00 : Estimated Depth Bias at time = 4790.00 : 0.00 : Estimated northing and easting = 4063248.25 : 572654.77 : AshtechGps::processRecord() - $GPGGA,202519.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202519.59,3642.7012,N,-12211.2239,W,1,03,00.5,003.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=879.57 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202520.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202520.59,3642.7007,N,-12211.2240,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202521.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.26 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202521.59,3642.7002,N,-12211.2241,W,1,03,00.5,003.1,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202522.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.37 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202522.59,3642.6998,N,-12211.2242,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202523.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202523.59,3642.6993,N,-12211.2243,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=879.42 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202524.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202524.59,3642.6988,N,-12211.2244,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202525.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.44 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202525.59,3642.6983,N,-12211.2245,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202526.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202526.59,3642.6978,N,-12211.2246,W,1,03,00.5,003.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=879.59 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202527.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202527.59,3642.6974,N,-12211.2247,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202528.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.59 horzlMode=3 horz=3.32 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202528.59,3642.6969,N,-12211.2248,W,1,03,00.5,003.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 4800.001177 : TerrainNav update at dvl time = 4800.001177 : _navData-> (x,y) = (4063189.35, 572603.29) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 4800.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,202529.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 4800.00 : 50.00 : Estimated Depth Bias at time = 4800.00 : 0.00 : Estimated northing and easting = 4063239.35 : 572653.29 : WaypointHoming has set the state to finished. : WaypointHoming (4063287.5, 572620.1), reached at t = 4847.80 (wplog) : Vehicle Position error is (98.7, 17.0) : The distance to the waypoint is -100.2. : LayeredControl::execute() -- (t = 4847.797903) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 4847.80 (wplog) The current location (N,E) = 4063188.8 , 572603.2 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 136.9 Degrees. : LayeredControl::execute() -- (t = 4847.807902) Behavior waypoint_homing:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=880.08 horzlMode=3 horz=2.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202529.59,3642.6964,N,-12211.2250,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202530.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202530.59,3642.6959,N,-12211.2251,W,1,03,00.5,003.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=879.72 horzlMode=3 horz=2.39 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202531.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202531.59,3642.6954,N,-12211.2252,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202532.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.79 horzlMode=3 horz=2.39 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202532.59,3642.6950,N,-12211.2252,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202533.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202533.59,3642.6945,N,-12211.2253,W,1,03,00.5,003.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=879.83 horzlMode=3 horz=2.39 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202534.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon is in the Usbl Fov at t = 4852.6 with dtw = 33.30 : NMEA Update: $GPGGA,202534.59,3642.6940,N,-12211.2254,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202535.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.98 horzlMode=3 horz=2.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202535.59,3642.6935,N,-12211.2253,W,1,03,00.5,003.1,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202536.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.99 horzlMode=3 horz=2.39 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202536.59,3642.6931,N,-12211.2253,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202537.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202537.58,3642.6926,N,-12211.2252,W,1,03,00.5,003.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=880.09 horzlMode=3 horz=2.39 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202538.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202538.58,3642.6922,N,-12211.2250,W,1,03,00.5,003.2,M,-99.9,M,,*4b : WaypointHoming has set the state to finished. : WaypointHoming (4063162.6, 572627.7), reached at t = 4857.20 (wplog) : Vehicle Position error is (-18.1, 24.5) : The distance to the waypoint is 30.0. : LayeredControl::execute() -- (t = 4857.197259) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 4857.20. : LayeredControl::execute() -- (t = 4857.207258) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 4857.21 (wplog) The current location (N,E) = 4063180.7 , 572603.2 (wplog) The next waypoint = 4063162.6 , 572627.7 (wplog) The bearing to the next w.p. is 126.4 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 4857.2 with dtw = 10000.00 : LayeredControl::execute() -- (t = 4857.207258) Behavior waypoint_homing:-1 has changed to state Active : TerrainNav update at nav time = 4810.000492 : TerrainNav update at dvl time = 4810.000492 : _navData-> (x,y) = (4063180.69, 572603.21) : _tercom->outstandingMeas() = 0 : CameraDriver::readData - starting a 40 photo sequence. : AshtechGps::processRecord() - $GPGGA,202539.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4810.00 : 50.00 : Estimated East Bias at time = 4810.00 : 50.00 : Estimated Depth Bias at time = 4810.00 : 0.00 : Estimated northing and easting = 4063230.69 : 572653.21 : LayeredControl _resolvedCommand - vertMode=2 vert=880.22 horzlMode=3 horz=2.21 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202540.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.23 horzlMode=3 horz=2.21 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202541.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202541.18,3642.6912,N,-12211.2243,W,1,03,00.5,003.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202542.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.17 horzlMode=3 horz=2.21 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202542.18,3642.6909,N,-12211.2240,W,1,03,00.5,003.3,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202543.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202543.18,3642.6907,N,-12211.2237,W,1,03,00.5,003.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=880.20 horzlMode=3 horz=2.21 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202544.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202544.18,3642.6904,N,-12211.2233,W,1,03,00.5,003.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=880.17 horzlMode=3 horz=2.21 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202545.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202545.18,3642.6902,N,-12211.2229,W,1,03,00.5,003.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202546.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202546.18,3642.6900,N,-12211.2225,W,1,03,00.5,003.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=880.07 horzlMode=3 horz=2.21 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202547.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202547.18,3642.6898,N,-12211.2221,W,1,03,00.5,003.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=880.11 horzlMode=3 horz=2.21 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 4866.40 Seconds. : The vehicle position is (4063176.3, 572608.0) : AshtechGps::processRecord() - $GPGGA,202548.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon has exited the Usbl Fov at t = 4866.6 with dtw = 30.52 : WaypointHoming: The Usbl does NOT detect the transponder at t = 4866.60 Seconds. : NMEA Update: $GPGGA,202548.18,3642.6897,N,-12211.2217,W,1,03,00.5,003.4,M,-99.9,M,,*42 : The vehicle position is is (4063176.3, 572608.1) : TerrainNav update at nav time = 4819.999807 : TerrainNav update at dvl time = 4819.999807 : _navData-> (x,y) = (4063176.09, 572608.51) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 4820.00 : 50.00 : Estimated East Bias at time = 4820.00 : 50.00 : Estimated Depth Bias at time = 4820.00 : 0.00 : Estimated northing and easting = 4063226.09 : 572658.51 : AshtechGps::processRecord() - $GPGGA,202549.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202549.18,3642.6895,N,-12211.2213,W,1,03,00.5,003.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202550.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202550.18,3642.6894,N,-12211.2208,W,1,03,00.5,003.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=880.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202551.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202551.18,3642.6892,N,-12211.2203,W,1,03,00.5,003.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=880.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202552.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202552.18,3642.6891,N,-12211.2199,W,1,03,00.5,003.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202553.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202553.18,3642.6890,N,-12211.2194,W,1,03,00.5,003.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=880.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202554.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202554.18,3642.6889,N,-12211.2189,W,1,03,00.5,003.3,M,-99.9,M,,*43 : WaypointHoming:: Beacon is in the Usbl Fov at t = 4872.8 with dtw = 31.19 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=880.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202555.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202555.18,3642.6888,N,-12211.2184,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202556.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202556.18,3642.6888,N,-12211.2179,W,1,03,00.5,003.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202557.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202557.18,3642.6887,N,-12211.2173,W,1,03,00.5,003.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=880.33 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202558.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202558.18,3642.6887,N,-12211.2168,W,1,03,00.5,003.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 4829.999122 : TerrainNav update at dvl time = 4829.999122 : _navData-> (x,y) = (4063174.43, 572615.85) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=880.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202559.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202559.18,3642.6886,N,-12211.2163,W,1,03,00.5,003.0,M,-99.9,M,,*46 : Estimated North Bias at time = 4830.00 : 50.00 : Estimated East Bias at time = 4830.00 : 50.00 : Estimated Depth Bias at time = 4830.00 : 0.00 : Estimated northing and easting = 4063224.43 : 572665.85 : AshtechGps::processRecord() - $GPGGA,202600.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202600.18,3642.6886,N,-12211.2158,W,1,03,00.5,003.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=880.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202601.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202601.18,3642.6886,N,-12211.2152,W,1,03,00.5,003.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=880.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202602.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202602.18,3642.6886,N,-12211.2146,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202603.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.29 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202603.18,3642.6886,N,-12211.2141,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202604.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202604.18,3642.6886,N,-12211.2135,W,1,03,00.5,002.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=880.24 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202605.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202605.18,3642.6886,N,-12211.2130,W,1,03,00.5,002.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=881.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202606.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202606.18,3642.6885,N,-12211.2124,W,1,03,00.5,002.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202607.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202607.18,3642.6886,N,-12211.2118,W,1,03,00.5,002.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=880.29 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202608.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202608.18,3642.6886,N,-12211.2112,W,1,03,00.5,002.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=880.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4839.998437 : TerrainNav update at dvl time = 4839.998437 : _navData-> (x,y) = (4063174.39, 572624.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202609.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202609.18,3642.6886,N,-12211.2106,W,1,03,00.5,002.7,M,-99.9,M,,*45 : Estimated North Bias at time = 4840.00 : 50.00 : Estimated East Bias at time = 4840.00 : 50.00 : Estimated Depth Bias at time = 4840.00 : 0.00 : Estimated northing and easting = 4063224.39 : 572674.27 : AshtechGps::processRecord() - $GPGGA,202610.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.18 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202610.18,3642.6886,N,-12211.2100,W,1,03,00.5,002.6,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202611.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202611.18,3642.6885,N,-12211.2094,W,1,03,00.5,002.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=880.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202612.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202612.18,3642.6885,N,-12211.2089,W,1,03,00.5,002.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=880.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202613.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202613.18,3642.6885,N,-12211.2083,W,1,03,00.5,002.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202614.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202614.18,3642.6884,N,-12211.2077,W,1,03,00.5,002.4,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=880.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202615.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202615.18,3642.6884,N,-12211.2071,W,1,03,00.5,002.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=880.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202616.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202616.18,3642.6884,N,-12211.2065,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202617.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202617.18,3642.6883,N,-12211.2058,W,1,03,00.5,002.3,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202618.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202618.18,3642.6883,N,-12211.2052,W,1,03,00.5,002.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=880.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4849.997752 : TerrainNav update at dvl time = 4849.997752 : _navData-> (x,y) = (4063173.83, 572633.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202619.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202619.18,3642.6882,N,-12211.2047,W,1,03,00.5,002.2,M,-99.9,M,,*41 : Estimated North Bias at time = 4850.00 : 50.00 : Estimated East Bias at time = 4850.00 : 50.00 : Estimated Depth Bias at time = 4850.00 : 0.00 : Estimated northing and easting = 4063223.83 : 572683.13 : LayeredControl _resolvedCommand - vertMode=2 vert=880.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202620.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202620.18,3642.6882,N,-12211.2041,W,1,03,00.5,002.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202621.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202621.18,3642.6882,N,-12211.2035,W,1,03,00.5,002.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=880.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202622.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202622.18,3642.6882,N,-12211.2029,W,1,03,00.5,002.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=880.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202623.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202623.18,3642.6881,N,-12211.2023,W,1,03,00.5,002.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202624.00,,,,,0,00,,,M,,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=880.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202624.18,3642.6881,N,-12211.2017,W,1,03,00.5,002.1,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202625.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202625.18,3642.6881,N,-12211.2011,W,1,03,00.5,002.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=880.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202626.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202626.18,3642.6880,N,-12211.2005,W,1,03,00.5,002.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=880.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202627.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202627.18,3642.6880,N,-12211.1999,W,1,03,00.5,002.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202628.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202628.18,3642.6879,N,-12211.1993,W,1,03,00.5,002.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=880.91 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4859.997067 : TerrainNav update at dvl time = 4859.997067 : _navData-> (x,y) = (4063173.28, 572641.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202629.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202629.18,3642.6879,N,-12211.1987,W,1,03,00.5,002.1,M,-99.9,M,,*43 : Estimated North Bias at time = 4860.00 : 50.00 : Estimated East Bias at time = 4860.00 : 50.00 : Estimated Depth Bias at time = 4860.00 : 0.00 : Estimated northing and easting = 4063223.28 : 572691.99 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=880.19 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202630.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202630.18,3642.6878,N,-12211.1981,W,1,03,00.5,002.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202631.00,,,,,0,00,,,M,,M,,*4C : LayeredControl _resolvedCommand - vertMode=2 vert=880.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202631.18,3642.6878,N,-12211.1975,W,1,03,00.5,002.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202632.00,,,,,0,00,,,M,,M,,*4F : NMEA Update: $GPGGA,202632.18,3642.6878,N,-12211.1969,W,1,03,00.5,002.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.08 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202633.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202633.18,3642.6877,N,-12211.1962,W,1,03,00.5,002.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202634.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202634.18,3642.6877,N,-12211.1956,W,1,03,00.5,002.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202635.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202635.18,3642.6876,N,-12211.1950,W,1,03,00.5,002.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=880.07 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202636.18,3642.6876,N,-12211.1944,W,1,03,00.5,002.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202636.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.82 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202637.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202637.18,3642.6876,N,-12211.1938,W,1,03,00.5,002.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202638.00,,,,,0,00,,,M,,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=879.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202638.18,3642.6876,N,-12211.1932,W,1,03,00.5,002.0,M,-99.9,M,,*43 : TerrainNav update at nav time = 4869.996382 : TerrainNav update at dvl time = 4869.996382 : _navData-> (x,y) = (4063172.68, 572651.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202639.18,3642.6875,N,-12211.1925,W,1,03,00.5,002.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202639.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4870.00 : 50.00 : Estimated East Bias at time = 4870.00 : 50.00 : Estimated Depth Bias at time = 4870.00 : 0.00 : Estimated northing and easting = 4063222.68 : 572701.18 : LayeredControl _resolvedCommand - vertMode=2 vert=879.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202640.18,3642.6875,N,-12211.1919,W,1,03,00.5,002.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202640.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202641.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202641.18,3642.6874,N,-12211.1913,W,1,03,00.5,002.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202642.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202642.18,3642.6874,N,-12211.1907,W,1,03,00.5,002.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=880.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202643.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202643.18,3642.6874,N,-12211.1901,W,1,03,00.5,002.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=879.78 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202644.18,3642.6873,N,-12211.1894,W,1,03,00.5,002.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202644.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,202645.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202645.18,3642.6873,N,-12211.1888,W,1,03,00.5,002.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202646.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202646.18,3642.6873,N,-12211.1882,W,1,03,00.5,002.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=880.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202647.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202647.18,3642.6873,N,-12211.1876,W,1,03,00.5,002.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=879.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202648.18,3642.6872,N,-12211.1869,W,1,03,00.5,002.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202648.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4879.995697 : TerrainNav update at dvl time = 4879.995697 : _navData-> (x,y) = (4063172.19, 572660.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202649.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202649.18,3642.6872,N,-12211.1863,W,1,03,00.5,002.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=879.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 4880.00 : 50.00 : Estimated East Bias at time = 4880.00 : 50.00 : Estimated Depth Bias at time = 4880.00 : 0.00 : Estimated northing and easting = 4063222.19 : 572710.40 : AshtechGps::processRecord() - $GPGGA,202650.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202650.18,3642.6872,N,-12211.1857,W,1,03,00.5,002.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=879.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202651.00,,,,,0,00,,,M,,M,,*4A : NMEA Update: $GPGGA,202651.18,3642.6872,N,-12211.1851,W,1,03,00.5,002.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=880.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202652.18,3642.6872,N,-12211.1844,W,1,03,00.5,002.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202652.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,202653.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202653.18,3642.6871,N,-12211.1838,W,1,03,00.5,002.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=879.73 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202654.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202654.18,3642.6871,N,-12211.1831,W,1,03,00.5,002.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=879.65 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202655.18,3642.6870,N,-12211.1825,W,1,03,00.5,002.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202655.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202656.18,3642.6870,N,-12211.1819,W,1,03,00.5,002.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202656.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.65 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202657.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202657.18,3642.6870,N,-12211.1813,W,1,03,00.5,002.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=879.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202658.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202658.18,3642.6869,N,-12211.1807,W,1,03,00.5,002.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 4889.995012 : TerrainNav update at dvl time = 4889.995012 : _navData-> (x,y) = (4063171.61, 572669.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=879.90 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202659.18,3642.6869,N,-12211.1800,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202659.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4890.00 : 50.00 : Estimated East Bias at time = 4890.00 : 50.00 : Estimated Depth Bias at time = 4890.00 : 0.00 : Estimated northing and easting = 4063221.61 : 572719.79 : NMEA Update: $GPGGA,202700.18,3642.6869,N,-12211.1794,W,1,03,00.5,002.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202700.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.43 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202701.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202701.18,3642.6868,N,-12211.1788,W,1,03,00.5,002.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=879.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202701.99,3642.6868,N,-12211.1783,W,1,03,00.5,002.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202702.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202702.99,3642.6868,N,-12211.1777,W,1,03,00.5,002.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202703.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.49 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202703.99,3642.6867,N,-12211.1770,W,1,03,00.5,002.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202704.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202704.99,3642.6867,N,-12211.1764,W,1,03,00.5,002.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202705.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202705.99,3642.6867,N,-12211.1758,W,1,03,00.5,002.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=880.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202706.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202706.99,3642.6866,N,-12211.1751,W,1,03,00.5,002.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202707.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.44 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202707.99,3642.6866,N,-12211.1745,W,1,03,00.5,002.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202708.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4899.994327 : TerrainNav update at dvl time = 4899.994327 : _navData-> (x,y) = (4063171.03, 572679.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=879.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202708.99,3642.6865,N,-12211.1739,W,1,03,00.5,002.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202709.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4899.99 : 50.00 : Estimated East Bias at time = 4899.99 : 50.00 : Estimated Depth Bias at time = 4899.99 : 0.00 : Estimated northing and easting = 4063221.03 : 572729.15 : NMEA Update: $GPGGA,202709.99,3642.6865,N,-12211.1733,W,1,03,00.5,002.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202710.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.36 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202710.99,3642.6865,N,-12211.1726,W,1,03,00.5,002.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202711.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202711.99,3642.6864,N,-12211.1719,W,1,03,00.5,002.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202712.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202712.99,3642.6864,N,-12211.1713,W,1,03,00.5,002.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202713.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202713.99,3642.6864,N,-12211.1707,W,1,03,00.5,002.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202714.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202714.99,3642.6864,N,-12211.1701,W,1,03,00.5,002.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202715.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202715.99,3642.6863,N,-12211.1694,W,1,03,00.5,002.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202716.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202716.99,3642.6863,N,-12211.1688,W,1,03,00.5,002.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202717.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202717.99,3642.6863,N,-12211.1682,W,1,03,00.5,002.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202718.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4909.993642 : TerrainNav update at dvl time = 4909.993642 : _navData-> (x,y) = (4063170.58, 572688.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202718.99,3642.6862,N,-12211.1675,W,1,03,00.5,002.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202719.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 4957.80 Seconds. : The vehicle position is (4063170.6, 572689.2) : Estimated North Bias at time = 4909.99 : 50.00 : Estimated East Bias at time = 4909.99 : 50.00 : Estimated Depth Bias at time = 4909.99 : 0.00 : Estimated northing and easting = 4063220.58 : 572738.59 : NMEA Update: $GPGGA,202719.99,3642.6862,N,-12211.1669,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202720.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 4959.00 Seconds. : The vehicle position is is (4063170.5, 572690.3) : NMEA Update: $GPGGA,202720.99,3642.6862,N,-12211.1663,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202721.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.20 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202721.99,3642.6862,N,-12211.1656,W,1,03,00.5,002.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202722.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202722.99,3642.6862,N,-12211.1650,W,1,03,00.5,002.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202723.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202723.99,3642.6862,N,-12211.1644,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202724.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202724.99,3642.6863,N,-12211.1638,W,1,03,00.5,002.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202725.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=879.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202725.99,3642.6864,N,-12211.1632,W,1,03,00.5,002.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202726.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202726.99,3642.6865,N,-12211.1626,W,1,03,00.5,002.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202727.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202727.99,3642.6866,N,-12211.1620,W,1,03,00.5,002.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202728.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=879.04 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4920.002957 : TerrainNav update at dvl time = 4920.002957 : _navData-> (x,y) = (4063171.53, 572697.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202728.99,3642.6867,N,-12211.1614,W,1,03,00.5,002.6,M,-99.9,M,,*47 : Estimated North Bias at time = 4920.00 : 50.00 : Estimated East Bias at time = 4920.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,202729.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 4920.00 : 0.00 : Estimated northing and easting = 4063221.53 : 572747.72 : LayeredControl _resolvedCommand - vertMode=2 vert=879.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202729.99,3642.6869,N,-12211.1608,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202730.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202730.99,3642.6871,N,-12211.1602,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202731.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202731.99,3642.6873,N,-12211.1597,W,1,03,00.5,002.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202732.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202732.99,3642.6875,N,-12211.1591,W,1,03,00.5,002.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202733.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202733.99,3642.6877,N,-12211.1586,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202734.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202734.99,3642.6879,N,-12211.1581,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202735.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202735.99,3642.6882,N,-12211.1576,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202736.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 4975.00 Seconds. : The vehicle position is (4063174.7, 572703.9) : LayeredControl _resolvedCommand - vertMode=2 vert=878.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202736.99,3642.6885,N,-12211.1572,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202737.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202737.99,3642.6888,N,-12211.1567,W,1,03,00.5,002.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202738.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4930.002272 : TerrainNav update at dvl time = 4930.002272 : _navData-> (x,y) = (4063175.90, 572705.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202738.99,3642.6891,N,-12211.1562,W,1,03,00.5,002.8,M,-99.9,M,,*43 : Estimated North Bias at time = 4930.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,202739.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 4930.00 : 50.00 : Estimated Depth Bias at time = 4930.00 : 0.00 : Estimated northing and easting = 4063225.90 : 572755.41 : LayeredControl _resolvedCommand - vertMode=2 vert=878.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202739.99,3642.6894,N,-12211.1558,W,1,03,00.5,002.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202740.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202740.99,3642.6897,N,-12211.1554,W,1,03,00.5,002.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202741.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202741.99,3642.6901,N,-12211.1549,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202742.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 4980.80 Seconds. : The vehicle position is is (4063178.0, 572707.8) : LayeredControl _resolvedCommand - vertMode=2 vert=878.41 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202742.99,3642.6904,N,-12211.1545,W,1,03,00.5,002.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202743.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.39 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202743.99,3642.6907,N,-12211.1540,W,1,03,00.5,002.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202744.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202744.99,3642.6910,N,-12211.1536,W,1,03,00.5,002.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202745.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.33 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202745.99,3642.6913,N,-12211.1531,W,1,03,00.5,002.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202746.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202746.99,3642.6916,N,-12211.1526,W,1,03,00.5,002.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202747.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202747.99,3642.6919,N,-12211.1521,W,1,03,00.5,002.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202748.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4940.001587 : TerrainNav update at dvl time = 4940.001587 : _navData-> (x,y) = (4063181.55, 572712.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202748.99,3642.6921,N,-12211.1516,W,1,03,00.5,002.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202749.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4940.00 : 50.00 : Estimated East Bias at time = 4940.00 : 50.00 : Estimated Depth Bias at time = 4940.00 : 0.00 : Estimated northing and easting = 4063231.55 : 572762.20 : LayeredControl _resolvedCommand - vertMode=2 vert=878.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202749.99,3642.6924,N,-12211.1511,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202750.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202750.99,3642.6926,N,-12211.1506,W,1,03,00.5,002.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202751.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202751.99,3642.6928,N,-12211.1501,W,1,03,00.5,002.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202752.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202752.99,3642.6930,N,-12211.1495,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202753.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=878.07 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202753.99,3642.6931,N,-12211.1490,W,1,03,00.5,002.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202754.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202754.99,3642.6932,N,-12211.1484,W,1,03,00.5,002.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202755.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.00 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202755.99,3642.6933,N,-12211.1478,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202756.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202756.99,3642.6934,N,-12211.1473,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202757.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202757.99,3642.6934,N,-12211.1467,W,1,03,00.5,002.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202758.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4950.000902 : TerrainNav update at dvl time = 4950.000902 : _navData-> (x,y) = (4063184.07, 572720.32) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202758.99,3642.6934,N,-12211.1462,W,1,03,00.5,002.8,M,-99.9,M,,*4a : Estimated North Bias at time = 4950.00 : 50.00 : Estimated East Bias at time = 4950.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,202759.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 4950.00 : 0.00 : Estimated northing and easting = 4063234.07 : 572770.32 : LayeredControl _resolvedCommand - vertMode=2 vert=878.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202759.99,3642.6934,N,-12211.1456,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202800.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming:: Beacon has exited the Usbl Fov at t = 4999.4 with dtw = 118.26 : NMEA Update: $GPGGA,202800.99,3642.6934,N,-12211.1451,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202801.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202801.99,3642.6933,N,-12211.1445,W,1,03,00.5,002.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202802.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202802.99,3642.6933,N,-12211.1440,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202803.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming:: Beacon is in the Usbl Fov at t = 5002.4 with dtw = 118.05 : NMEA Update: $GPGGA,202803.98,3642.6932,N,-12211.1434,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202804.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202804.98,3642.6932,N,-12211.1428,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202805.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202805.98,3642.6931,N,-12211.1423,W,1,03,00.5,003.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202806.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202806.98,3642.6931,N,-12211.1417,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202807.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202807.98,3642.6930,N,-12211.1411,W,1,03,00.5,003.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202808.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 4960.000217 : TerrainNav update at dvl time = 4960.000217 : _navData-> (x,y) = (4063183.43, 572728.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202808.98,3642.6930,N,-12211.1406,W,1,03,00.5,003.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202809.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 4960.00 : 50.00 : Estimated East Bias at time = 4960.00 : 50.00 : Estimated Depth Bias at time = 4960.00 : 0.00 : Estimated northing and easting = 4063233.43 : 572778.65 : NMEA Update: $GPGGA,202809.98,3642.6929,N,-12211.1400,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202810.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202810.98,3642.6929,N,-12211.1394,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202811.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202811.98,3642.6929,N,-12211.1388,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202812.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202812.98,3642.6928,N,-12211.1382,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202813.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.74 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202813.98,3642.6928,N,-12211.1376,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202814.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202814.98,3642.6927,N,-12211.1370,W,1,03,00.5,003.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202815.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202815.98,3642.6927,N,-12211.1364,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202816.98,3642.6927,N,-12211.1358,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202817.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.72 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202817.98,3642.6926,N,-12211.1352,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202818.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 4969.999532 : TerrainNav update at dvl time = 4969.999532 : _navData-> (x,y) = (4063182.79, 572737.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=877.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202818.98,3642.6926,N,-12211.1346,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202819.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4970.00 : 50.00 : Estimated East Bias at time = 4970.00 : 50.00 : Estimated Depth Bias at time = 4970.00 : 0.00 : Estimated northing and easting = 4063232.79 : 572787.49 : NMEA Update: $GPGGA,202819.98,3642.6926,N,-12211.1340,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202820.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202820.98,3642.6925,N,-12211.1334,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202821.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202821.98,3642.6925,N,-12211.1328,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202822.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202822.98,3642.6924,N,-12211.1322,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.65 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202823.98,3642.6924,N,-12211.1316,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202824.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=878.07 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202824.98,3642.6923,N,-12211.1310,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202825.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=877.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202825.98,3642.6923,N,-12211.1304,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202826.98,3642.6923,N,-12211.1297,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202827.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202827.98,3642.6923,N,-12211.1291,W,1,03,00.5,003.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202828.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4979.998847 : TerrainNav update at dvl time = 4979.998847 : _navData-> (x,y) = (4063182.13, 572746.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202828.98,3642.6922,N,-12211.1285,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202829.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4980.00 : 50.00 : Estimated East Bias at time = 4980.00 : 50.00 : Estimated Depth Bias at time = 4980.00 : 0.00 : Estimated northing and easting = 4063232.13 : 572796.58 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202829.98,3642.6922,N,-12211.1279,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202830.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202830.98,3642.6922,N,-12211.1273,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202831.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202831.98,3642.6921,N,-12211.1267,W,1,03,00.5,003.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202832.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202832.98,3642.6921,N,-12211.1260,W,1,03,00.5,003.2,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202833.98,3642.6920,N,-12211.1254,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202834.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202834.98,3642.6920,N,-12211.1248,W,1,03,00.5,003.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.49 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202835.98,3642.6920,N,-12211.1242,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202836.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202836.98,3642.6919,N,-12211.1236,W,1,03,00.5,003.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202837.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202837.98,3642.6919,N,-12211.1229,W,1,03,00.5,003.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202838.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.47 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4989.998162 : TerrainNav update at dvl time = 4989.998162 : _navData-> (x,y) = (4063181.49, 572755.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202838.98,3642.6918,N,-12211.1224,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202839.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 4990.00 : 50.00 : Estimated East Bias at time = 4990.00 : 50.00 : Estimated Depth Bias at time = 4990.00 : 0.00 : Estimated northing and easting = 4063231.49 : 572805.76 : LayeredControl _resolvedCommand - vertMode=2 vert=877.51 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202839.98,3642.6918,N,-12211.1217,W,1,03,00.5,003.2,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202840.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202840.98,3642.6918,N,-12211.1211,W,1,03,00.5,003.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202841.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.48 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202841.98,3642.6917,N,-12211.1205,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202842.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202842.98,3642.6917,N,-12211.1199,W,1,03,00.5,003.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202843.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202843.98,3642.6917,N,-12211.1193,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202844.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.35 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202844.98,3642.6917,N,-12211.1187,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202845.98,3642.6918,N,-12211.1181,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202846.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.48 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202846.98,3642.6918,N,-12211.1175,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202847.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202847.98,3642.6919,N,-12211.1169,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202848.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 4999.997477 : TerrainNav update at dvl time = 4999.997477 : _navData-> (x,y) = (4063181.79, 572764.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202848.98,3642.6920,N,-12211.1163,W,1,03,00.5,003.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202849.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5000.00 : 50.00 : Estimated East Bias at time = 5000.00 : 50.00 : Estimated Depth Bias at time = 5000.00 : 0.00 : Estimated northing and easting = 4063231.79 : 572814.81 : LayeredControl _resolvedCommand - vertMode=2 vert=877.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202849.98,3642.6921,N,-12211.1157,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202850.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202850.98,3642.6922,N,-12211.1152,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202851.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.34 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202851.98,3642.6923,N,-12211.1146,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202852.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202852.98,3642.6925,N,-12211.1140,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202853.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202853.98,3642.6927,N,-12211.1135,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202854.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202854.98,3642.6929,N,-12211.1130,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.34 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202855.98,3642.6931,N,-12211.1125,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202856.98,3642.6934,N,-12211.1120,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202857.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202857.98,3642.6936,N,-12211.1115,W,1,03,00.5,003.2,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202858.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 5009.996792 : TerrainNav update at dvl time = 5009.996792 : _navData-> (x,y) = (4063185.32, 572772.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202858.98,3642.6939,N,-12211.1110,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202859.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5010.00 : 50.00 : Estimated East Bias at time = 5010.00 : 50.00 : Estimated Depth Bias at time = 5010.00 : 0.00 : Estimated northing and easting = 4063235.32 : 572822.61 : WaypointHoming: The Usbl has aquired the transponder at t = 5057.79 Seconds. : The vehicle position is (4063185.6, 572773.0) : LayeredControl _resolvedCommand - vertMode=2 vert=877.12 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202859.98,3642.6942,N,-12211.1106,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202900.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=877.07 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202900.98,3642.6945,N,-12211.1101,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202901.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 5060.19 Seconds. : The vehicle position is is (4063187.0, 572774.6) : NMEA Update: $GPGGA,202901.98,3642.6948,N,-12211.1097,W,1,03,00.5,003.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202902.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 5061.39 Seconds. : The vehicle position is (4063187.7, 572775.4) : NMEA Update: $GPGGA,202902.98,3642.6951,N,-12211.1093,W,1,03,00.5,003.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202903.98,3642.6954,N,-12211.1088,W,1,03,00.5,003.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202904.00,,,,,0,00,,,M,,M,,*45 : WaypointHoming: The Usbl does NOT detect the transponder at t = 5062.59 Seconds. : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : The vehicle position is is (4063188.4, 572776.1) : NMEA Update: $GPGGA,202904.98,3642.6957,N,-12211.1084,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202905.98,3642.6961,N,-12211.1080,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202906.98,3642.6964,N,-12211.1076,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202907.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.83 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202907.98,3642.6967,N,-12211.1072,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202908.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 5019.996107 : TerrainNav update at dvl time = 5019.996107 : _navData-> (x,y) = (4063191.27, 572778.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202908.98,3642.6971,N,-12211.1068,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202909.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5020.00 : 50.00 : Estimated East Bias at time = 5020.00 : 50.00 : Estimated Depth Bias at time = 5020.00 : 0.00 : Estimated northing and easting = 4063241.27 : 572828.84 : LayeredControl _resolvedCommand - vertMode=2 vert=876.80 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202909.98,3642.6974,N,-12211.1064,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202910.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202910.98,3642.6979,N,-12211.1061,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202911.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 5069.79 Seconds. : The vehicle position is (4063193.2, 572780.4) : NMEA Update: $GPGGA,202911.98,3642.6983,N,-12211.1057,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202912.00,,,,,0,00,,,M,,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=876.75 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 5070.99 Seconds. : The vehicle position is is (4063194.1, 572780.9) : NMEA Update: $GPGGA,202912.98,3642.6987,N,-12211.1054,W,1,03,00.5,002.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202913.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 5072.39 Seconds. : The vehicle position is (4063195.0, 572781.4) : NMEA Update: $GPGGA,202913.98,3642.6990,N,-12211.1051,W,1,03,00.5,002.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202914.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.54 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202914.98,3642.6994,N,-12211.1048,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202915.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202915.98,3642.6998,N,-12211.1045,W,1,03,00.5,002.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202916.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 5074.79 Seconds. : The vehicle position is is (4063196.8, 572782.6) : LayeredControl _resolvedCommand - vertMode=2 vert=876.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202916.98,3642.7002,N,-12211.1042,W,1,03,00.5,002.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202917.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.49 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202917.98,3642.7006,N,-12211.1039,W,1,03,00.5,002.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202918.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 5029.995422 : TerrainNav update at dvl time = 5029.995422 : _navData-> (x,y) = (4063198.55, 572783.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202918.98,3642.7010,N,-12211.1035,W,1,03,00.5,002.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202919.00,,,,,0,00,,,M,,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=876.32 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5030.00 : 50.00 : Estimated East Bias at time = 5030.00 : 50.00 : Estimated Depth Bias at time = 5030.00 : 0.00 : Estimated northing and easting = 4063248.55 : 572833.73 : WaypointHoming: The Usbl has aquired the transponder at t = 5078.39 Seconds. : The vehicle position is (4063199.5, 572784.4) : NMEA Update: $GPGGA,202919.98,3642.7014,N,-12211.1032,W,1,03,00.5,002.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202920.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202920.98,3642.7018,N,-12211.1028,W,1,03,00.5,002.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202921.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202921.98,3642.7022,N,-12211.1025,W,1,03,00.5,002.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202922.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 5080.79 Seconds. : The vehicle position is is (4063201.3, 572785.6) : NMEA Update: $GPGGA,202922.98,3642.7026,N,-12211.1021,W,1,03,00.5,002.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202923.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202923.98,3642.7030,N,-12211.1017,W,1,03,00.5,002.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202924.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202924.98,3642.7034,N,-12211.1013,W,1,03,00.5,002.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202925.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 5084.39 Seconds. : The vehicle position is (4063203.8, 572787.6) : NMEA Update: $GPGGA,202925.98,3642.7038,N,-12211.1009,W,1,03,00.5,002.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202926.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202926.98,3642.7041,N,-12211.1005,W,1,03,00.5,002.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202927.00,,,,,0,00,,,M,,M,,*44 : WaypointHoming: The Usbl does NOT detect the transponder at t = 5085.59 Seconds. : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : The vehicle position is is (4063204.6, 572788.4) : LayeredControl _resolvedCommand - vertMode=2 vert=876.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202927.79,3642.7044,N,-12211.1002,W,1,03,00.5,002.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202928.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202928.79,3642.7048,N,-12211.0998,W,1,03,00.5,002.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 5039.994737 : TerrainNav update at dvl time = 5039.994737 : _navData-> (x,y) = (4063205.68, 572789.39) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=875.84 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 5039.99 : 50.00 : Estimated East Bias at time = 5039.99 : 50.00 : AshtechGps::processRecord() - $GPGGA,202929.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 5039.99 : 0.00 : Estimated northing and easting = 4063255.68 : 572839.39 : NMEA Update: $GPGGA,202929.79,3642.7051,N,-12211.0993,W,1,03,00.5,002.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202930.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202930.79,3642.7054,N,-12211.0988,W,1,03,00.5,002.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202931.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.91 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202931.79,3642.7057,N,-12211.0984,W,1,03,00.5,002.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202932.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202932.79,3642.7060,N,-12211.0979,W,1,03,00.5,002.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202933.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.90 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202933.79,3642.7062,N,-12211.0973,W,1,03,00.5,002.5,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202934.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=876.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202934.79,3642.7064,N,-12211.0968,W,1,03,00.5,002.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202935.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202935.79,3642.7065,N,-12211.0963,W,1,03,00.5,002.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=875.83 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202936.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202936.79,3642.7067,N,-12211.0958,W,1,03,00.5,002.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202937.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202937.79,3642.7068,N,-12211.0952,W,1,03,00.5,002.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202938.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202938.79,3642.7069,N,-12211.0947,W,1,03,00.5,002.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 5049.994052 : TerrainNav update at dvl time = 5049.994052 : _navData-> (x,y) = (4063209.61, 572796.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202939.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5049.99 : 50.00 : Estimated East Bias at time = 5049.99 : 50.00 : Estimated Depth Bias at time = 5049.99 : 0.00 : Estimated northing and easting = 4063259.61 : 572846.90 : NMEA Update: $GPGGA,202939.79,3642.7069,N,-12211.0942,W,1,03,00.5,002.7,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202940.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.97 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202940.79,3642.7069,N,-12211.0936,W,1,03,00.5,002.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202941.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202941.79,3642.7069,N,-12211.0931,W,1,03,00.5,002.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202942.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202942.79,3642.7069,N,-12211.0925,W,1,03,00.5,002.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=875.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202943.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming:: Beacon has exited the Usbl Fov at t = 5101.6 with dtw = 159.91 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202943.79,3642.7068,N,-12211.0920,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202944.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202944.79,3642.7068,N,-12211.0915,W,1,03,00.5,002.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202945.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202945.79,3642.7068,N,-12211.0909,W,1,03,00.5,002.9,M,-99.9,M,,*47 : WaypointHoming:: Beacon is in the Usbl Fov at t = 5104.4 with dtw = 159.73 : AshtechGps::processRecord() - $GPGGA,202946.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202946.79,3642.7067,N,-12211.0904,W,1,03,00.5,003.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202947.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202947.79,3642.7067,N,-12211.0898,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202948.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202948.79,3642.7066,N,-12211.0893,W,1,03,00.5,003.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 5059.993367 : TerrainNav update at dvl time = 5059.993367 : _navData-> (x,y) = (4063209.19, 572804.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202949.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5059.99 : 50.00 : Estimated East Bias at time = 5059.99 : 50.00 : Estimated Depth Bias at time = 5059.99 : 0.00 : Estimated northing and easting = 4063259.19 : 572854.96 : NMEA Update: $GPGGA,202949.79,3642.7065,N,-12211.0888,W,1,03,00.5,003.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=876.07 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202950.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202950.79,3642.7064,N,-12211.0883,W,1,03,00.5,003.0,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202951.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202951.79,3642.7064,N,-12211.0878,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202952.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202952.79,3642.7064,N,-12211.0872,W,1,03,00.5,003.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202953.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202953.79,3642.7063,N,-12211.0866,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202954.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.45 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202954.79,3642.7063,N,-12211.0861,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202955.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202955.79,3642.7062,N,-12211.0855,W,1,03,00.5,003.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202956.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202956.79,3642.7062,N,-12211.0849,W,1,03,00.5,003.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=875.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,202957.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,202957.79,3642.7062,N,-12211.0843,W,1,03,00.5,003.0,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202958.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202958.79,3642.7061,N,-12211.0837,W,1,03,00.5,003.0,M,-99.9,M,,*46 : TerrainNav update at nav time = 5070.002681 : TerrainNav update at dvl time = 5070.002681 : _navData-> (x,y) = (4063208.43, 572813.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,202959.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5070.00 : 50.00 : Estimated East Bias at time = 5070.00 : 50.00 : Estimated Depth Bias at time = 5070.00 : 0.00 : Estimated northing and easting = 4063258.43 : 572863.25 : LayeredControl _resolvedCommand - vertMode=2 vert=875.85 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,202959.79,3642.7061,N,-12211.0831,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203000.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203000.79,3642.7061,N,-12211.0825,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203001.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.60 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203001.79,3642.7060,N,-12211.0819,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203002.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.89 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203002.79,3642.7060,N,-12211.0813,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203003.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203003.79,3642.7059,N,-12211.0807,W,1,03,00.5,003.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=875.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203004.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203004.79,3642.7059,N,-12211.0801,W,1,03,00.5,003.1,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203005.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203005.79,3642.7058,N,-12211.0795,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203006.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203006.79,3642.7058,N,-12211.0789,W,1,03,00.5,003.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203007.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203007.79,3642.7057,N,-12211.0783,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203008.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203008.79,3642.7057,N,-12211.0776,W,1,03,00.5,003.2,M,-99.9,M,,*46 : TerrainNav update at nav time = 5080.001996 : TerrainNav update at dvl time = 5080.001996 : _navData-> (x,y) = (4063207.71, 572822.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203009.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5080.00 : 50.00 : Estimated East Bias at time = 5080.00 : 50.00 : Estimated Depth Bias at time = 5080.00 : 0.00 : Estimated northing and easting = 4063257.71 : 572872.30 : LayeredControl _resolvedCommand - vertMode=2 vert=875.55 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203009.79,3642.7056,N,-12211.0770,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203010.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203010.79,3642.7056,N,-12211.0764,W,1,03,00.5,003.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=875.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203011.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203011.79,3642.7056,N,-12211.0758,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203012.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=875.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203012.79,3642.7055,N,-12211.0752,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203013.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203013.79,3642.7055,N,-12211.0746,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203014.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203014.79,3642.7055,N,-12211.0740,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203015.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203015.79,3642.7055,N,-12211.0734,W,1,03,00.5,003.2,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203016.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203016.79,3642.7055,N,-12211.0728,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203017.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203017.79,3642.7056,N,-12211.0722,W,1,03,00.5,003.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=875.44 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203018.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203018.79,3642.7056,N,-12211.0716,W,1,03,00.5,003.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 5090.001311 : TerrainNav update at dvl time = 5090.001311 : _navData-> (x,y) = (4063207.60, 572831.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203019.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5090.00 : 50.00 : Estimated East Bias at time = 5090.00 : 50.00 : Estimated Depth Bias at time = 5090.00 : 0.00 : Estimated northing and easting = 4063257.60 : 572881.30 : LayeredControl _resolvedCommand - vertMode=2 vert=875.44 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203019.79,3642.7057,N,-12211.0710,W,1,03,00.5,003.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203020.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 5139.20 Seconds. : The vehicle position is (4063208.0, 572833.0) : NMEA Update: $GPGGA,203020.79,3642.7058,N,-12211.0704,W,1,03,00.5,003.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=875.43 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203021.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203021.79,3642.7059,N,-12211.0698,W,1,03,00.5,003.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203022.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.42 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203022.79,3642.7061,N,-12211.0693,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203023.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.34 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203023.79,3642.7062,N,-12211.0687,W,1,03,00.5,003.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203024.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 5142.80 Seconds. : The vehicle position is is (4063208.9, 572836.1) : NMEA Update: $GPGGA,203024.79,3642.7064,N,-12211.0681,W,1,03,00.5,003.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=875.38 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203025.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203025.79,3642.7065,N,-12211.0676,W,1,03,00.5,003.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203026.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.28 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203026.79,3642.7067,N,-12211.0671,W,1,03,00.5,003.3,M,-99.9,M,,*4e : WaypointHoming: The Usbl has aquired the transponder at t = 5145.40 Seconds. : The vehicle position is (4063209.8, 572838.2) : AshtechGps::processRecord() - $GPGGA,203027.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203027.79,3642.7069,N,-12211.0665,W,1,03,00.5,003.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203028.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 5146.60 Seconds. : The vehicle position is is (4063210.2, 572839.1) : NMEA Update: $GPGGA,203028.79,3642.7071,N,-12211.0660,W,1,03,00.5,003.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 5100.000626 : TerrainNav update at dvl time = 5100.000626 : _navData-> (x,y) = (4063210.46, 572839.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203029.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.27 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 5100.00 : 50.00 : Estimated East Bias at time = 5100.00 : 50.00 : Estimated Depth Bias at time = 5100.00 : 0.00 : Estimated northing and easting = 4063260.46 : 572889.60 : NMEA Update: $GPGGA,203029.78,3642.7073,N,-12211.0654,W,1,03,00.5,003.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203030.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.98 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203030.78,3642.7075,N,-12211.0649,W,1,03,00.5,003.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203031.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203031.78,3642.7078,N,-12211.0644,W,1,03,00.5,003.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=875.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203032.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203032.78,3642.7080,N,-12211.0639,W,1,03,00.5,003.2,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203033.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203033.78,3642.7082,N,-12211.0634,W,1,03,00.5,003.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203034.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203034.78,3642.7085,N,-12211.0629,W,1,03,00.5,003.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203035.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203035.78,3642.7088,N,-12211.0624,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203036.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203036.78,3642.7090,N,-12211.0619,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203037.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203037.78,3642.7094,N,-12211.0615,W,1,03,00.5,003.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203038.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203038.78,3642.7097,N,-12211.0610,W,1,03,00.5,003.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 5109.999941 : TerrainNav update at dvl time = 5109.999941 : _navData-> (x,y) = (4063215.24, 572846.98) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=875.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203039.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5110.00 : 50.00 : Estimated East Bias at time = 5110.00 : 50.00 : Estimated Depth Bias at time = 5110.00 : 0.00 : Estimated northing and easting = 4063265.24 : 572896.98 : NMEA Update: $GPGGA,203039.78,3642.7100,N,-12211.0606,W,1,03,00.5,003.1,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203040.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.09 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203040.78,3642.7103,N,-12211.0602,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203041.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203041.78,3642.7107,N,-12211.0597,W,1,03,00.5,003.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203042.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203042.78,3642.7110,N,-12211.0593,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203043.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203043.78,3642.7114,N,-12211.0590,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203044.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.95 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203044.78,3642.7118,N,-12211.0586,W,1,03,00.5,003.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203045.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203045.78,3642.7122,N,-12211.0582,W,1,03,00.5,003.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=874.94 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203046.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203046.78,3642.7126,N,-12211.0579,W,1,03,00.5,003.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203047.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.88 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203047.78,3642.7129,N,-12211.0576,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203048.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.68 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203048.78,3642.7133,N,-12211.0572,W,1,03,00.5,003.0,M,-99.9,M,,*44 : TerrainNav update at nav time = 5119.999256 : TerrainNav update at dvl time = 5119.999256 : _navData-> (x,y) = (4063222.09, 572852.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203049.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5120.00 : 50.00 : Estimated East Bias at time = 5120.00 : 50.00 : Estimated Depth Bias at time = 5120.00 : 0.00 : Estimated northing and easting = 4063272.09 : 572902.60 : NMEA Update: $GPGGA,203049.78,3642.7137,N,-12211.0569,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203050.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.52 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203050.78,3642.7141,N,-12211.0565,W,1,03,00.5,002.9,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203051.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.67 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203051.78,3642.7146,N,-12211.0562,W,1,03,00.5,002.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203052.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203052.78,3642.7150,N,-12211.0558,W,1,03,00.5,002.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=874.74 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203053.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203053.78,3642.7153,N,-12211.0556,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203054.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.62 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203054.78,3642.7158,N,-12211.0556,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203055.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.06 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203055.78,3642.7162,N,-12211.0553,W,1,03,00.5,002.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203056.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203056.78,3642.7166,N,-12211.0549,W,1,03,00.5,002.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203057.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=875.01 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203057.78,3642.7170,N,-12211.0546,W,1,03,00.5,002.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203058.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.49 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203058.78,3642.7174,N,-12211.0542,W,1,03,00.5,002.7,M,-99.9,M,,*43 : TerrainNav update at nav time = 5129.998571 : TerrainNav update at dvl time = 5129.998571 : _navData-> (x,y) = (4063229.67, 572856.97) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5130.00 : 50.00 : Estimated East Bias at time = 5130.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,203059.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 5130.00 : 0.00 : Estimated northing and easting = 4063279.67 : 572906.97 : NMEA Update: $GPGGA,203059.78,3642.7178,N,-12211.0539,W,1,03,00.5,002.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=874.46 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203100.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203100.78,3642.7183,N,-12211.0536,W,1,03,00.5,002.6,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203101.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.43 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203101.78,3642.7187,N,-12211.0533,W,1,03,00.5,002.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203102.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 5180.80 Seconds. : The vehicle position is (4063232.5, 572858.6) : LayeredControl _resolvedCommand - vertMode=2 vert=874.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203102.78,3642.7191,N,-12211.0530,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203103.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 5182.19 Seconds. : The vehicle position is is (4063233.7, 572859.2) : NMEA Update: $GPGGA,203103.78,3642.7196,N,-12211.0527,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203104.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203104.78,3642.7200,N,-12211.0524,W,1,03,00.5,002.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203105.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.32 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203105.78,3642.7205,N,-12211.0521,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203106.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203106.78,3642.7210,N,-12211.0519,W,1,03,00.5,002.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=874.26 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203107.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203107.78,3642.7214,N,-12211.0516,W,1,03,00.5,002.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203108.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203108.78,3642.7219,N,-12211.0513,W,1,03,00.5,002.5,M,-99.9,M,,*49 : TerrainNav update at nav time = 5139.997886 : TerrainNav update at dvl time = 5139.997886 : _navData-> (x,y) = (4063237.91, 572861.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203109.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5140.00 : 50.00 : Estimated East Bias at time = 5140.00 : 50.00 : Estimated Depth Bias at time = 5140.00 : 0.00 : Estimated northing and easting = 4063287.91 : 572911.23 : LayeredControl _resolvedCommand - vertMode=2 vert=874.23 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203109.78,3642.7223,N,-12211.0511,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203110.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203110.78,3642.7228,N,-12211.0508,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203111.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 5189.59 Seconds. : The vehicle position is (4063239.9, 572862.1) : LayeredControl _resolvedCommand - vertMode=2 vert=874.03 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203111.78,3642.7232,N,-12211.0506,W,1,03,00.5,002.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203112.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 5190.79 Seconds. : The vehicle position is is (4063241.0, 572862.5) : LayeredControl _resolvedCommand - vertMode=2 vert=874.10 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203112.78,3642.7237,N,-12211.0504,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203113.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 5192.19 Seconds. : The vehicle position is (4063242.2, 572862.9) : NMEA Update: $GPGGA,203113.78,3642.7242,N,-12211.0502,W,1,03,00.5,002.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=873.86 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203114.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203114.78,3642.7247,N,-12211.0499,W,1,03,00.5,002.5,M,-99.9,M,,*4c : WaypointHoming: The Usbl does NOT detect the transponder at t = 5193.39 Seconds. : The vehicle position is is (4063243.3, 572863.3) : AshtechGps::processRecord() - $GPGGA,203115.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=874.04 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203115.78,3642.7251,N,-12211.0497,W,1,03,00.5,002.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203116.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.77 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203116.78,3642.7256,N,-12211.0494,W,1,03,00.5,002.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203117.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203117.78,3642.7260,N,-12211.0492,W,1,03,00.5,002.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203118.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203118.78,3642.7265,N,-12211.0489,W,1,03,00.5,002.5,M,-99.9,M,,*41 : TerrainNav update at nav time = 5149.997201 : TerrainNav update at dvl time = 5149.997201 : _navData-> (x,y) = (4063246.56, 572864.75) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5150.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,203119.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 5150.00 : 50.00 : Estimated Depth Bias at time = 5150.00 : 0.00 : Estimated northing and easting = 4063296.56 : 572914.75 : LayeredControl _resolvedCommand - vertMode=2 vert=873.87 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203119.78,3642.7270,N,-12211.0486,W,1,03,00.5,002.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203120.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203120.78,3642.7274,N,-12211.0483,W,1,03,00.5,002.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=873.88 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203121.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203121.78,3642.7278,N,-12211.0479,W,1,03,00.5,002.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203122.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.74 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203122.78,3642.7282,N,-12211.0476,W,1,03,00.5,002.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203123.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=873.81 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203123.78,3642.7285,N,-12211.0472,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203124.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203124.78,3642.7289,N,-12211.0468,W,1,03,00.5,002.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203125.00,,,,,0,00,,,M,,M,,*4F : LayeredControl _resolvedCommand - vertMode=2 vert=873.76 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203125.78,3642.7293,N,-12211.0464,W,1,03,00.5,002.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203126.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.74 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203126.78,3642.7296,N,-12211.0459,W,1,03,00.5,002.7,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203127.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203127.78,3642.7300,N,-12211.0455,W,1,03,00.5,002.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=874.50 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203128.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203128.78,3642.7304,N,-12211.0451,W,1,03,00.5,002.7,M,-99.9,M,,*43 : TerrainNav update at nav time = 5159.996516 : TerrainNav update at dvl time = 5159.996516 : _navData-> (x,y) = (4063253.69, 572870.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203129.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5160.00 : 50.00 : Estimated East Bias at time = 5160.00 : 50.00 : Estimated Depth Bias at time = 5160.00 : 0.00 : Estimated northing and easting = 4063303.69 : 572920.37 : LayeredControl _resolvedCommand - vertMode=2 vert=873.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203129.78,3642.7307,N,-12211.0447,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203130.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=873.61 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203130.78,3642.7311,N,-12211.0442,W,1,03,00.5,002.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203131.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203131.78,3642.7315,N,-12211.0438,W,1,03,00.5,002.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203132.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.63 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203132.78,3642.7318,N,-12211.0434,W,1,03,00.5,002.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203133.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.57 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203133.78,3642.7322,N,-12211.0430,W,1,03,00.5,002.8,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203134.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203134.78,3642.7326,N,-12211.0426,W,1,03,00.5,002.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=873.43 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203135.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203135.78,3642.7330,N,-12211.0422,W,1,03,00.5,002.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203136.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.49 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203136.78,3642.7334,N,-12211.0419,W,1,03,00.5,002.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203137.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=873.56 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203137.78,3642.7338,N,-12211.0415,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203138.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203138.78,3642.7342,N,-12211.0412,W,1,03,00.5,002.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 5169.995831 : TerrainNav update at dvl time = 5169.995831 : _navData-> (x,y) = (4063260.90, 572876.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203139.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : Estimated North Bias at time = 5170.00 : 50.00 : Estimated East Bias at time = 5170.00 : 50.00 : Estimated Depth Bias at time = 5170.00 : 0.00 : Estimated northing and easting = 4063310.90 : 572926.11 : NMEA Update: $GPGGA,203139.78,3642.7346,N,-12211.0408,W,1,03,00.5,003.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203140.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.59 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203140.78,3642.7350,N,-12211.0405,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203141.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203141.78,3642.7355,N,-12211.0402,W,1,03,00.5,003.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=873.53 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203142.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203142.78,3642.7359,N,-12211.0398,W,1,03,00.5,003.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203143.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.48 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203143.78,3642.7363,N,-12211.0395,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203144.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203144.78,3642.7368,N,-12211.0391,W,1,03,00.5,002.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203145.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203145.78,3642.7372,N,-12211.0389,W,1,03,00.5,003.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203146.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.71 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203146.78,3642.7376,N,-12211.0385,W,1,03,00.5,003.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203147.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.41 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203147.78,3642.7380,N,-12211.0382,W,1,03,00.5,003.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203148.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203148.78,3642.7385,N,-12211.0379,W,1,03,00.5,003.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 5179.995146 : TerrainNav update at dvl time = 5179.995146 : _navData-> (x,y) = (4063268.78, 572880.86) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=873.92 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203149.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5180.00 : 50.00 : Estimated East Bias at time = 5180.00 : 50.00 : Estimated Depth Bias at time = 5180.00 : 0.00 : Estimated northing and easting = 4063318.78 : 572930.86 : NMEA Update: $GPGGA,203149.78,3642.7389,N,-12211.0377,W,1,03,00.5,003.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203150.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.41 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203150.78,3642.7393,N,-12211.0374,W,1,03,00.5,003.0,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203151.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.31 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203151.78,3642.7398,N,-12211.0371,W,1,03,00.5,003.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203152.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203152.78,3642.7402,N,-12211.0368,W,1,03,00.5,003.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=873.36 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203153.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203153.59,3642.7406,N,-12211.0366,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203154.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.32 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203154.59,3642.7411,N,-12211.0364,W,1,03,00.5,003.0,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203155.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203155.59,3642.7415,N,-12211.0361,W,1,03,00.5,003.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=873.30 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203156.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203156.59,3642.7420,N,-12211.0359,W,1,03,00.5,003.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203157.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203157.59,3642.7425,N,-12211.0357,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203158.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203158.59,3642.7430,N,-12211.0354,W,1,03,00.5,003.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=873.25 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : TerrainNav update at nav time = 5189.994461 : TerrainNav update at dvl time = 5189.994461 : _navData-> (x,y) = (4063277.34, 572884.60) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5189.99 : 50.00 : Estimated East Bias at time = 5189.99 : 50.00 : Estimated Depth Bias at time = 5189.99 : 0.00 : Estimated northing and easting = 4063327.34 : 572934.60 : AshtechGps::processRecord() - $GPGGA,203159.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203159.59,3642.7434,N,-12211.0352,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203200.00,,,,,0,00,,,M,,M,,*4B : LayeredControl _resolvedCommand - vertMode=2 vert=873.22 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203200.59,3642.7439,N,-12211.0350,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203201.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.21 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203201.59,3642.7444,N,-12211.0348,W,1,03,00.5,003.1,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203202.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203202.59,3642.7449,N,-12211.0346,W,1,03,00.5,003.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=873.17 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203203.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203203.59,3642.7453,N,-12211.0344,W,1,03,00.5,003.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203204.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.16 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203204.59,3642.7458,N,-12211.0342,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203205.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203205.59,3642.7463,N,-12211.0341,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=873.15 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203206.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203206.59,3642.7468,N,-12211.0339,W,1,03,00.5,003.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203207.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.13 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203207.59,3642.7473,N,-12211.0337,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203208.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.14 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203208.59,3642.7478,N,-12211.0335,W,1,03,00.5,003.1,M,-99.9,M,,*4f : TerrainNav update at nav time = 5199.993776 : TerrainNav update at dvl time = 5199.993776 : _navData-> (x,y) = (4063286.18, 572887.34) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203209.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5199.99 : 50.00 : Estimated East Bias at time = 5199.99 : 50.00 : Estimated Depth Bias at time = 5199.99 : 0.00 : Estimated northing and easting = 4063336.18 : 572937.34 : NMEA Update: $GPGGA,203209.59,3642.7482,N,-12211.0334,W,1,03,00.5,003.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=873.11 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203210.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203210.59,3642.7487,N,-12211.0332,W,1,03,00.5,003.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203211.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.06 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203211.59,3642.7492,N,-12211.0330,W,1,03,00.5,003.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203212.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203212.59,3642.7497,N,-12211.0328,W,1,03,00.5,003.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=873.17 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203213.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203213.59,3642.7502,N,-12211.0327,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203214.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=873.02 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203214.59,3642.7507,N,-12211.0325,W,1,03,00.5,003.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203215.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.99 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203215.59,3642.7511,N,-12211.0324,W,1,03,00.5,003.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203216.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203216.59,3642.7516,N,-12211.0322,W,1,03,00.5,003.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=872.93 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,203217.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203217.59,3642.7521,N,-12211.0321,W,1,03,00.5,003.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203218.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=872.96 horzlMode=3 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,203218.59,3642.7526,N,-12211.0320,W,1,03,00.5,003.1,M,-99.9,M,,*40 : TerrainNav update at nav time = 5210.003090 : TerrainNav update at dvl time = 5210.003090 : _navData-> (x,y) = (4063295.24, 572889.57) : _tercom->outstandingMeas() = 0 : LayeredControl::execute() -- (t = 5257.399843) Behavior waypoint_homing:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 5257.399843) Behavior acousticUpdate:-1 has changed to state Finished : LayeredControl::execute() -- (t = 5257.399843) Behavior ascend:-1 has changed to state Active : Estimated North Bias at time = 5210.00 : 50.00 : Estimated East Bias at time = 5210.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,203219.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 5210.00 : 0.00 : Estimated northing and easting = 4063345.24 : 572939.57 : NMEA Update: $GPGGA,203219.59,3642.7531,N,-12211.0318,W,1,03,00.5,003.1,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203220.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203220.59,3642.7536,N,-12211.0317,W,1,03,00.5,003.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203221.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203221.59,3642.7541,N,-12211.0315,W,1,03,00.5,003.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203222.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203222.59,3642.7546,N,-12211.0314,W,1,03,00.5,003.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203223.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203223.59,3642.7552,N,-12211.0313,W,1,03,00.5,003.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203224.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203224.59,3642.7558,N,-12211.0312,W,1,03,00.5,003.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203225.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203225.59,3642.7563,N,-12211.0312,W,1,03,00.5,003.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203226.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203226.59,3642.7569,N,-12211.0312,W,1,03,00.5,003.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203227.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203227.59,3642.7575,N,-12211.0312,W,1,03,00.5,003.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203228.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203228.59,3642.7581,N,-12211.0313,W,1,03,00.5,003.7,M,-99.9,M,,*48 : TerrainNav update at nav time = 5220.002405 : TerrainNav update at dvl time = 5220.002405 : _navData-> (x,y) = (4063305.39, 572890.35) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203229.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5220.00 : 50.00 : Estimated East Bias at time = 5220.00 : 50.00 : Estimated Depth Bias at time = 5220.00 : 0.00 : Estimated northing and easting = 4063355.39 : 572940.35 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203229.59,3642.7587,N,-12211.0315,W,1,03,00.5,003.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203230.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203230.59,3642.7592,N,-12211.0317,W,1,03,00.5,004.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203231.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203231.59,3642.7597,N,-12211.0320,W,1,03,00.5,004.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203232.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203232.59,3642.7601,N,-12211.0323,W,1,03,00.5,004.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203233.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203233.59,3642.7603,N,-12211.0327,W,1,03,00.5,004.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203234.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203234.59,3642.7606,N,-12211.0329,W,1,03,00.5,006.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203235.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203235.59,3642.7608,N,-12211.0332,W,1,03,00.5,007.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203236.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203236.59,3642.7610,N,-12211.0335,W,1,03,00.5,007.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203237.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203237.59,3642.7612,N,-12211.0339,W,1,03,00.5,008.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203238.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203238.59,3642.7614,N,-12211.0345,W,1,03,00.5,009.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 5230.001720 : TerrainNav update at dvl time = 5230.001720 : _navData-> (x,y) = (4063311.19, 572885.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203239.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5230.00 : 50.00 : Estimated East Bias at time = 5230.00 : 50.00 : Estimated Depth Bias at time = 5230.00 : 0.00 : Estimated northing and easting = 4063361.19 : 572935.38 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203239.59,3642.7615,N,-12211.0352,W,1,03,00.5,009.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203240.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203240.59,3642.7615,N,-12211.0359,W,1,03,00.5,010.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203241.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203241.59,3642.7614,N,-12211.0366,W,1,03,00.5,010.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203242.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203242.59,3642.7613,N,-12211.0372,W,1,03,00.5,011.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203243.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203243.59,3642.7611,N,-12211.0379,W,1,03,00.5,012.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203244.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203244.59,3642.7608,N,-12211.0385,W,1,03,00.5,012.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203245.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203245.59,3642.7604,N,-12211.0390,W,1,03,00.5,013.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203246.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203246.59,3642.7600,N,-12211.0394,W,1,03,00.5,013.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203247.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203247.59,3642.7596,N,-12211.0398,W,1,03,00.5,014.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203248.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203248.59,3642.7591,N,-12211.0401,W,1,03,00.5,014.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 5240.001035 : TerrainNav update at dvl time = 5240.001035 : _navData-> (x,y) = (4063306.77, 572877.20) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 5240.00 : 50.00 : Estimated East Bias at time = 5240.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,203249.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated Depth Bias at time = 5240.00 : 0.00 : Estimated northing and easting = 4063356.77 : 572927.20 : NMEA Update: $GPGGA,203249.59,3642.7586,N,-12211.0404,W,1,03,00.5,015.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203250.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203250.59,3642.7581,N,-12211.0405,W,1,03,00.5,015.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203251.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203251.59,3642.7576,N,-12211.0406,W,1,03,00.5,016.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203252.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203252.59,3642.7571,N,-12211.0405,W,1,03,00.5,017.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203253.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203253.59,3642.7566,N,-12211.0404,W,1,03,00.5,017.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203254.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203254.59,3642.7564,N,-12211.0403,W,1,03,00.5,018.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203255.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203255.58,3642.7559,N,-12211.0400,W,1,03,00.5,018.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203256.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203256.58,3642.7557,N,-12211.0399,W,1,03,00.5,019.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203257.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203257.58,3642.7555,N,-12211.0396,W,1,03,00.5,013.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203258.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203258.58,3642.7553,N,-12211.0392,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 5250.000350 : TerrainNav update at dvl time = 5250.000350 : _navData-> (x,y) = (4063299.92, 572878.83) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5250.00 : 50.00 : Estimated East Bias at time = 5250.00 : 50.00 : Estimated Depth Bias at time = 5250.00 : 0.00 : Estimated northing and easting = 4063349.92 : 572928.83 : AshtechGps::processRecord() - $GPGGA,203259.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203259.58,3642.7552,N,-12211.0387,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203300.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203300.58,3642.7552,N,-12211.0380,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,203301.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203301.58,3642.7553,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203302.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203302.58,3642.7552,N,-12211.0371,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203303.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203303.58,3642.7553,N,-12211.0365,W,1,03,00.5,023.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203304.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203304.58,3642.7554,N,-12211.0359,W,1,03,00.5,024.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203305.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203305.58,3642.7555,N,-12211.0353,W,1,03,00.5,024.6,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203306.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203306.58,3642.7558,N,-12211.0347,W,1,03,00.5,025.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203307.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203307.58,3642.7561,N,-12211.0342,W,1,03,00.5,025.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203308.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203308.58,3642.7564,N,-12211.0338,W,1,03,00.5,026.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5259.999665 : TerrainNav update at dvl time = 5259.999665 : _navData-> (x,y) = (4063302.14, 572886.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203309.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5260.00 : 50.00 : Estimated East Bias at time = 5260.00 : 50.00 : Estimated Depth Bias at time = 5260.00 : 0.00 : Estimated northing and easting = 4063352.14 : 572936.86 : NMEA Update: $GPGGA,203309.58,3642.7568,N,-12211.0334,W,1,03,00.5,026.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203310.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203310.58,3642.7572,N,-12211.0331,W,1,03,00.5,026.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203311.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203311.58,3642.7577,N,-12211.0329,W,1,03,00.5,027.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203312.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203312.58,3642.7582,N,-12211.0328,W,1,03,00.5,028.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203313.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203313.58,3642.7586,N,-12211.0327,W,1,03,00.5,028.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203314.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203314.58,3642.7591,N,-12211.0328,W,1,03,00.5,029.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203315.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203315.58,3642.7596,N,-12211.0329,W,1,03,00.5,029.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203316.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203316.58,3642.7601,N,-12211.0331,W,1,03,00.5,030.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203317.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203317.58,3642.7605,N,-12211.0334,W,1,03,00.5,031.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203318.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203318.58,3642.7609,N,-12211.0338,W,1,03,00.5,031.6,M,-99.9,M,,*41 : TerrainNav update at nav time = 5269.998980 : TerrainNav update at dvl time = 5269.998980 : _navData-> (x,y) = (4063310.36, 572886.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203319.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5270.00 : 50.00 : Estimated East Bias at time = 5270.00 : 50.00 : Estimated Depth Bias at time = 5270.00 : 0.00 : Estimated northing and easting = 4063360.36 : 572936.57 : NMEA Update: $GPGGA,203319.58,3642.7612,N,-12211.0342,W,1,03,00.5,032.3,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203320.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203320.58,3642.7615,N,-12211.0347,W,1,03,00.5,032.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203321.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203321.58,3642.7617,N,-12211.0353,W,1,03,00.5,033.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203322.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203322.58,3642.7618,N,-12211.0358,W,1,03,00.5,033.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203323.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203323.58,3642.7619,N,-12211.0364,W,1,03,00.5,034.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203324.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203324.58,3642.7619,N,-12211.0371,W,1,03,00.5,034.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203325.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203325.58,3642.7618,N,-12211.0376,W,1,03,00.5,035.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203326.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203326.58,3642.7617,N,-12211.0382,W,1,03,00.5,036.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203327.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203327.58,3642.7614,N,-12211.0388,W,1,03,00.5,036.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203328.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203328.58,3642.7612,N,-12211.0393,W,1,03,00.5,037.1,M,-99.9,M,,*48 : TerrainNav update at nav time = 5279.998295 : TerrainNav update at dvl time = 5279.998295 : _navData-> (x,y) = (4063310.62, 572878.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203329.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5280.00 : 50.00 : Estimated East Bias at time = 5280.00 : 50.00 : Estimated Depth Bias at time = 5280.00 : 0.00 : Estimated northing and easting = 4063360.62 : 572928.37 : NMEA Update: $GPGGA,203329.58,3642.7608,N,-12211.0397,W,1,03,00.5,038.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203330.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203330.58,3642.7605,N,-12211.0402,W,1,03,00.5,038.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203331.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203331.58,3642.7600,N,-12211.0405,W,1,03,00.5,039.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203332.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203332.58,3642.7596,N,-12211.0408,W,1,03,00.5,040.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203333.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203333.58,3642.7591,N,-12211.0410,W,1,03,00.5,041.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203334.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203334.58,3642.7586,N,-12211.0411,W,1,03,00.5,040.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203335.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203335.58,3642.7581,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203336.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203336.58,3642.7576,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203337.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203337.58,3642.7571,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,203338.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203338.58,3642.7566,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 5289.997610 : TerrainNav update at dvl time = 5289.997610 : _navData-> (x,y) = (4063302.16, 572876.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203339.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5290.00 : 50.00 : Estimated East Bias at time = 5290.00 : 50.00 : Estimated Depth Bias at time = 5290.00 : 0.00 : Estimated northing and easting = 4063352.16 : 572926.80 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203339.58,3642.7562,N,-12211.0402,W,1,03,00.5,044.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203340.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203340.58,3642.7558,N,-12211.0398,W,1,03,00.5,044.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203341.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203341.58,3642.7555,N,-12211.0394,W,1,03,00.5,046.1,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203342.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203342.58,3642.7552,N,-12211.0388,W,1,03,00.5,046.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203343.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203343.58,3642.7550,N,-12211.0382,W,1,03,00.5,047.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203344.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203344.58,3642.7548,N,-12211.0376,W,1,03,00.5,047.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203345.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203345.58,3642.7547,N,-12211.0371,W,1,03,00.5,048.0,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203346.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203346.58,3642.7547,N,-12211.0365,W,1,03,00.5,048.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203347.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203347.58,3642.7547,N,-12211.0358,W,1,03,00.5,049.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203348.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203348.58,3642.7549,N,-12211.0352,W,1,03,00.5,049.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 5299.996925 : TerrainNav update at dvl time = 5299.996925 : _navData-> (x,y) = (4063299.18, 572884.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203349.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 5300.00 : 50.00 : Estimated East Bias at time = 5300.00 : 50.00 : Estimated Depth Bias at time = 5300.00 : 0.00 : Estimated northing and easting = 4063349.18 : 572934.80 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203349.58,3642.7550,N,-12211.0347,W,1,03,00.5,050.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203350.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203350.58,3642.7553,N,-12211.0341,W,1,03,00.5,050.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203351.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203351.58,3642.7556,N,-12211.0336,W,1,03,00.5,052.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203352.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203352.58,3642.7560,N,-12211.0332,W,1,03,00.5,051.7,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203353.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203353.58,3642.7564,N,-12211.0328,W,1,03,00.5,051.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203354.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203354.58,3642.7569,N,-12211.0324,W,1,03,00.5,052.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203355.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203355.58,3642.7573,N,-12211.0322,W,1,03,00.5,053.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203356.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203356.58,3642.7578,N,-12211.0320,W,1,03,00.5,053.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203357.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203357.58,3642.7583,N,-12211.0320,W,1,03,00.5,053.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203358.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203358.58,3642.7588,N,-12211.0320,W,1,03,00.5,054.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 5309.996240 : TerrainNav update at dvl time = 5309.996240 : _navData-> (x,y) = (4063306.63, 572889.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203359.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5310.00 : 50.00 : Estimated East Bias at time = 5310.00 : 50.00 : Estimated Depth Bias at time = 5310.00 : 0.00 : Estimated northing and easting = 4063356.63 : 572939.37 : NMEA Update: $GPGGA,203359.58,3642.7593,N,-12211.0321,W,1,03,00.5,054.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203400.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203400.58,3642.7597,N,-12211.0323,W,1,03,00.5,055.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203401.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203401.58,3642.7602,N,-12211.0326,W,1,03,00.5,055.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203402.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203402.58,3642.7605,N,-12211.0330,W,1,03,00.5,055.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203403.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203403.58,3642.7609,N,-12211.0334,W,1,03,00.5,056.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203404.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203404.58,3642.7611,N,-12211.0339,W,1,03,00.5,057.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203405.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203405.58,3642.7613,N,-12211.0344,W,1,03,00.5,057.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203406.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203406.58,3642.7614,N,-12211.0350,W,1,03,00.5,059.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203407.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203407.58,3642.7615,N,-12211.0355,W,1,03,00.5,059.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203408.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203408.58,3642.7615,N,-12211.0361,W,1,03,00.5,061.0,M,-99.9,M,,*45 : TerrainNav update at nav time = 5319.995555 : TerrainNav update at dvl time = 5319.995555 : _navData-> (x,y) = (4063311.30, 572883.03) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5320.00 : 50.00 : Estimated East Bias at time = 5320.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,203409.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 5320.00 : 0.00 : Estimated northing and easting = 4063361.30 : 572933.03 : NMEA Update: $GPGGA,203409.58,3642.7614,N,-12211.0367,W,1,03,00.5,061.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203410.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203410.58,3642.7612,N,-12211.0373,W,1,03,00.5,062.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203411.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203411.58,3642.7610,N,-12211.0378,W,1,03,00.5,063.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203412.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203412.58,3642.7607,N,-12211.0382,W,1,03,00.5,064.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203413.00,,,,,0,00,,,M,,M,,*4F : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203413.58,3642.7603,N,-12211.0387,W,1,03,00.5,064.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203414.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203414.58,3642.7599,N,-12211.0391,W,1,03,00.5,065.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203415.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203415.58,3642.7595,N,-12211.0394,W,1,03,00.5,065.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203416.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203416.58,3642.7590,N,-12211.0396,W,1,03,00.5,065.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203417.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203417.58,3642.7585,N,-12211.0398,W,1,03,00.5,066.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203418.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203418.58,3642.7580,N,-12211.0399,W,1,03,00.5,068.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5329.994870 : TerrainNav update at dvl time = 5329.994870 : _navData-> (x,y) = (4063304.72, 572877.70) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5329.99 : 50.00 : AshtechGps::processRecord() - $GPGGA,203419.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 5329.99 : 50.00 : Estimated Depth Bias at time = 5329.99 : 0.00 : Estimated northing and easting = 4063354.72 : 572927.70 : NMEA Update: $GPGGA,203419.59,3642.7575,N,-12211.0398,W,1,03,00.5,069.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203420.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203420.59,3642.7571,N,-12211.0396,W,1,03,00.5,068.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203421.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203421.59,3642.7566,N,-12211.0394,W,1,03,00.5,069.8,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203422.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203422.59,3642.7561,N,-12211.0391,W,1,03,00.5,069.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203423.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203423.59,3642.7557,N,-12211.0387,W,1,03,00.5,070.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203424.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203424.59,3642.7554,N,-12211.0383,W,1,03,00.5,070.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203425.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203425.59,3642.7551,N,-12211.0378,W,1,03,00.5,071.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203426.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203426.59,3642.7549,N,-12211.0372,W,1,03,00.5,071.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203427.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203427.59,3642.7549,N,-12211.0366,W,1,03,00.5,072.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203428.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203428.59,3642.7549,N,-12211.0360,W,1,03,00.5,073.4,M,-99.9,M,,*4a : TerrainNav update at nav time = 5339.994185 : TerrainNav update at dvl time = 5339.994185 : _navData-> (x,y) = (4063299.23, 572883.70) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 5339.99 : 50.00 : Estimated East Bias at time = 5339.99 : 50.00 : Estimated Depth Bias at time = 5339.99 : 0.00 : AshtechGps::processRecord() - $GPGGA,203429.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063349.23 : 572933.70 : NMEA Update: $GPGGA,203429.59,3642.7550,N,-12211.0354,W,1,03,00.5,073.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203430.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203430.59,3642.7553,N,-12211.0349,W,1,03,00.5,075.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203431.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203431.59,3642.7556,N,-12211.0344,W,1,03,00.5,074.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203432.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203432.59,3642.7560,N,-12211.0340,W,1,03,00.5,074.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203433.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203433.59,3642.7564,N,-12211.0337,W,1,03,00.5,075.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203434.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203434.59,3642.7569,N,-12211.0334,W,1,03,00.5,075.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203435.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203435.59,3642.7574,N,-12211.0333,W,1,03,00.5,075.4,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203436.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203436.59,3642.7579,N,-12211.0333,W,1,03,00.5,076.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203437.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203437.59,3642.7584,N,-12211.0334,W,1,03,00.5,078.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203438.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203438.59,3642.7589,N,-12211.0336,W,1,03,00.5,076.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 5349.993500 : TerrainNav update at dvl time = 5349.993500 : _navData-> (x,y) = (4063306.84, 572887.01) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5349.99 : 50.00 : Estimated East Bias at time = 5349.99 : 50.00 : Estimated Depth Bias at time = 5349.99 : 0.00 : Estimated northing and easting = 4063356.84 : 572937.01 : AshtechGps::processRecord() - $GPGGA,203439.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203439.59,3642.7594,N,-12211.0338,W,1,03,00.5,076.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203440.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203440.59,3642.7599,N,-12211.0341,W,1,03,00.5,078.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203441.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203441.59,3642.7604,N,-12211.0345,W,1,03,00.5,078.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203442.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203442.59,3642.7607,N,-12211.0349,W,1,03,00.5,078.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203443.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203443.59,3642.7610,N,-12211.0354,W,1,03,00.5,078.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203444.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203444.59,3642.7613,N,-12211.0360,W,1,03,00.5,078.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203445.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203445.59,3642.7615,N,-12211.0365,W,1,03,00.5,079.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203446.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203446.59,3642.7616,N,-12211.0371,W,1,03,00.5,079.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203447.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203447.59,3642.7616,N,-12211.0376,W,1,03,00.5,081.7,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203448.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203448.59,3642.7616,N,-12211.0382,W,1,03,00.5,083.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 5360.002815 : TerrainNav update at dvl time = 5360.002815 : _navData-> (x,y) = (4063311.58, 572879.94) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5360.00 : 50.00 : Estimated East Bias at time = 5360.00 : 50.00 : Estimated Depth Bias at time = 5360.00 : 0.00 : Estimated northing and easting = 4063361.58 : 572929.94 : AshtechGps::processRecord() - $GPGGA,203449.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203449.59,3642.7616,N,-12211.0388,W,1,03,00.5,083.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203450.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203450.59,3642.7614,N,-12211.0393,W,1,03,00.5,083.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203451.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203451.59,3642.7612,N,-12211.0398,W,1,03,00.5,085.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203452.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203452.59,3642.7610,N,-12211.0402,W,1,03,00.5,086.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203453.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203453.59,3642.7607,N,-12211.0406,W,1,03,00.5,086.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203454.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203454.59,3642.7603,N,-12211.0410,W,1,03,00.5,088.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203455.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203455.59,3642.7600,N,-12211.0414,W,1,03,00.5,091.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203456.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203456.59,3642.7595,N,-12211.0417,W,1,03,00.5,089.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203457.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203457.59,3642.7590,N,-12211.0419,W,1,03,00.5,089.3,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203458.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203458.59,3642.7586,N,-12211.0421,W,1,03,00.5,090.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 5370.002130 : TerrainNav update at dvl time = 5370.002130 : _navData-> (x,y) = (4063305.69, 572874.36) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5370.00 : 50.00 : Estimated East Bias at time = 5370.00 : 50.00 : Estimated Depth Bias at time = 5370.00 : 0.00 : Estimated northing and easting = 4063355.69 : 572924.36 : AshtechGps::processRecord() - $GPGGA,203459.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203459.59,3642.7581,N,-12211.0422,W,1,03,00.5,092.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203500.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203500.59,3642.7575,N,-12211.0422,W,1,03,00.5,092.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203501.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203501.59,3642.7570,N,-12211.0421,W,1,03,00.5,093.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203502.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203502.59,3642.7565,N,-12211.0420,W,1,03,00.5,093.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203503.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203503.59,3642.7560,N,-12211.0419,W,1,03,00.5,092.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203504.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203504.59,3642.7556,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203505.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203505.59,3642.7552,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,203506.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203506.59,3642.7548,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203507.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203507.59,3642.7545,N,-12211.0404,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203508.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203508.59,3642.7542,N,-12211.0399,W,1,03,00.5,096.5,M,-99.9,M,,*4e : TerrainNav update at nav time = 5380.001445 : TerrainNav update at dvl time = 5380.001445 : _navData-> (x,y) = (4063297.70, 572877.88) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 5380.00 : 50.00 : Estimated East Bias at time = 5380.00 : 50.00 : Estimated Depth Bias at time = 5380.00 : 0.00 : Estimated northing and easting = 4063347.70 : 572927.88 : AshtechGps::processRecord() - $GPGGA,203509.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203509.59,3642.7539,N,-12211.0393,W,1,03,00.5,096.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203510.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203510.59,3642.7538,N,-12211.0387,W,1,03,00.5,098.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203511.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203511.59,3642.7537,N,-12211.0381,W,1,03,00.5,099.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203512.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203512.59,3642.7536,N,-12211.0375,W,1,03,00.5,098.9,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203513.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203513.59,3642.7537,N,-12211.0369,W,1,03,00.5,099.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203514.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203514.59,3642.7538,N,-12211.0362,W,1,03,00.5,099.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203515.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203515.59,3642.7540,N,-12211.0356,W,1,03,00.5,099.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203516.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203516.59,3642.7542,N,-12211.0350,W,1,03,00.5,101.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203517.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203517.59,3642.7545,N,-12211.0345,W,1,03,00.5,101.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203518.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203518.59,3642.7548,N,-12211.0339,W,1,03,00.5,101.0,M,-99.9,M,,*45 : TerrainNav update at nav time = 5390.000760 : TerrainNav update at dvl time = 5390.000760 : _navData-> (x,y) = (4063299.10, 572886.69) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5390.00 : 50.00 : Estimated East Bias at time = 5390.00 : 50.00 : Estimated Depth Bias at time = 5390.00 : 0.00 : Estimated northing and easting = 4063349.10 : 572936.69 : AshtechGps::processRecord() - $GPGGA,203519.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203519.59,3642.7552,N,-12211.0335,W,1,03,00.5,101.5,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203520.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203520.59,3642.7556,N,-12211.0331,W,1,03,00.5,101.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203521.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203521.58,3642.7561,N,-12211.0328,W,1,03,00.5,100.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203522.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203522.58,3642.7566,N,-12211.0326,W,1,03,00.5,100.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203523.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203523.58,3642.7571,N,-12211.0324,W,1,03,00.5,103.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203524.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203524.58,3642.7577,N,-12211.0324,W,1,03,00.5,103.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203525.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203525.58,3642.7582,N,-12211.0324,W,1,03,00.5,104.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203526.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203526.58,3642.7586,N,-12211.0326,W,1,03,00.5,103.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203527.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203527.58,3642.7591,N,-12211.0328,W,1,03,00.5,105.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203528.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203528.58,3642.7596,N,-12211.0331,W,1,03,00.5,106.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5400.000075 : TerrainNav update at dvl time = 5400.000075 : _navData-> (x,y) = (4063308.01, 572887.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203529.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5400.00 : 50.00 : Estimated East Bias at time = 5400.00 : 50.00 : Estimated Depth Bias at time = 5400.00 : 0.00 : Estimated northing and easting = 4063358.01 : 572937.71 : NMEA Update: $GPGGA,203529.58,3642.7599,N,-12211.0335,W,1,03,00.5,107.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203530.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203530.58,3642.7603,N,-12211.0339,W,1,03,00.5,107.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203531.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203531.58,3642.7606,N,-12211.0344,W,1,03,00.5,108.4,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203532.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203532.58,3642.7608,N,-12211.0350,W,1,03,00.5,108.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203533.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203533.58,3642.7610,N,-12211.0356,W,1,03,00.5,109.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203534.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203534.58,3642.7611,N,-12211.0362,W,1,03,00.5,110.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203535.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203535.58,3642.7611,N,-12211.0369,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203536.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203536.58,3642.7611,N,-12211.0375,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203537.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203537.58,3642.7609,N,-12211.0381,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203538.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203538.58,3642.7607,N,-12211.0387,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 5409.999390 : TerrainNav update at dvl time = 5409.999390 : _navData-> (x,y) = (4063309.84, 572879.17) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5410.00 : 50.00 : Estimated East Bias at time = 5410.00 : 50.00 : Estimated Depth Bias at time = 5410.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,203539.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063359.84 : 572929.17 : NMEA Update: $GPGGA,203539.58,3642.7605,N,-12211.0393,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203540.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203540.58,3642.7601,N,-12211.0397,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203541.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203541.58,3642.7598,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203542.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203542.58,3642.7593,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203543.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203543.58,3642.7589,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,203544.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203544.58,3642.7584,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203545.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203545.58,3642.7579,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203546.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203546.58,3642.7573,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203547.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203547.58,3642.7568,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,203548.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203548.58,3642.7563,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainNav update at nav time = 5419.998705 : TerrainNav update at dvl time = 5419.998705 : _navData-> (x,y) = (4063301.63, 572876.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203549.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5420.00 : 50.00 : Estimated East Bias at time = 5420.00 : 50.00 : Estimated Depth Bias at time = 5420.00 : 0.00 : Estimated northing and easting = 4063351.63 : 572926.31 : NMEA Update: $GPGGA,203549.58,3642.7559,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203550.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203550.58,3642.7555,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,203551.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203551.58,3642.7551,N,-12211.0398,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203552.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203552.58,3642.7548,N,-12211.0394,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,203553.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203553.58,3642.7545,N,-12211.0388,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203554.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203554.58,3642.7543,N,-12211.0382,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,203555.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203555.58,3642.7541,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203556.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203556.58,3642.7541,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203557.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203557.58,3642.7541,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203558.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203558.58,3642.7542,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 5429.998020 : TerrainNav update at dvl time = 5429.998020 : _navData-> (x,y) = (4063297.99, 572884.02) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5430.00 : 50.00 : Estimated East Bias at time = 5430.00 : 50.00 : Estimated Depth Bias at time = 5430.00 : 0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203559.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063347.99 : 572934.02 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203559.58,3642.7544,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,203600.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203600.58,3642.7546,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203601.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203601.58,3642.7548,N,-12211.0341,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,203602.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203602.58,3642.7552,N,-12211.0337,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203603.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203603.58,3642.7556,N,-12211.0333,W,1,03,00.5,126.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203604.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203604.58,3642.7560,N,-12211.0329,W,1,03,00.5,127.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203605.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203605.58,3642.7565,N,-12211.0326,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,203606.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203606.58,3642.7570,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203607.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203607.58,3642.7575,N,-12211.0324,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203608.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203608.58,3642.7580,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 5439.997335 : TerrainNav update at dvl time = 5439.997335 : _navData-> (x,y) = (4063305.13, 572888.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203609.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5440.00 : 50.00 : Estimated East Bias at time = 5440.00 : 50.00 : Estimated Depth Bias at time = 5440.00 : 0.00 : Estimated northing and easting = 4063355.13 : 572938.67 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203609.58,3642.7585,N,-12211.0326,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203610.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203610.58,3642.7589,N,-12211.0329,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203611.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203611.58,3642.7594,N,-12211.0332,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203612.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203612.58,3642.7597,N,-12211.0336,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203613.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203613.58,3642.7601,N,-12211.0341,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,203614.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203614.58,3642.7604,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203615.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203615.58,3642.7606,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,203616.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203616.58,3642.7608,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203617.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203617.58,3642.7609,N,-12211.0365,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203618.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203618.58,3642.7609,N,-12211.0371,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 5449.996650 : TerrainNav update at dvl time = 5449.996650 : _navData-> (x,y) = (4063310.20, 572881.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203619.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5450.00 : 50.00 : Estimated East Bias at time = 5450.00 : 50.00 : Estimated Depth Bias at time = 5450.00 : 0.00 : Estimated northing and easting = 4063360.20 : 572931.59 : NMEA Update: $GPGGA,203619.58,3642.7608,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203620.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203620.58,3642.7606,N,-12211.0384,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203621.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203621.58,3642.7604,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203622.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203622.58,3642.7601,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203623.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203623.58,3642.7598,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203624.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203624.58,3642.7594,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203625.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203625.58,3642.7590,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203626.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203626.58,3642.7586,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203627.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203627.58,3642.7580,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,203628.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203628.58,3642.7575,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainNav update at nav time = 5459.995965 : TerrainNav update at dvl time = 5459.995965 : _navData-> (x,y) = (4063303.67, 572875.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203629.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5460.00 : 50.00 : Estimated East Bias at time = 5460.00 : 50.00 : Estimated Depth Bias at time = 5460.00 : 0.00 : Estimated northing and easting = 4063353.67 : 572925.15 : NMEA Update: $GPGGA,203629.58,3642.7570,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203630.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203630.58,3642.7565,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203631.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203631.58,3642.7559,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203632.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203632.58,3642.7554,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,203633.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203633.58,3642.7549,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203634.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203634.58,3642.7545,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,203635.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203635.58,3642.7541,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203636.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203636.58,3642.7538,N,-12211.0397,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203637.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203637.58,3642.7535,N,-12211.0392,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,203638.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203638.58,3642.7532,N,-12211.0386,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5469.995280 : TerrainNav update at dvl time = 5469.995280 : _navData-> (x,y) = (4063296.02, 572879.79) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203639.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5470.00 : 50.00 : Estimated East Bias at time = 5470.00 : 50.00 : Estimated Depth Bias at time = 5470.00 : 0.00 : Estimated northing and easting = 4063346.02 : 572929.79 : NMEA Update: $GPGGA,203639.58,3642.7531,N,-12211.0380,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203640.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203640.58,3642.7531,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,203641.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203641.58,3642.7531,N,-12211.0366,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,203642.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203642.58,3642.7531,N,-12211.0360,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203643.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203643.58,3642.7533,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203644.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203644.58,3642.7535,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,203645.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203645.59,3642.7538,N,-12211.0343,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203646.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203646.59,3642.7541,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203647.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203647.59,3642.7545,N,-12211.0333,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,203648.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203648.59,3642.7549,N,-12211.0330,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 5479.994595 : TerrainNav update at dvl time = 5479.994595 : _navData-> (x,y) = (4063299.38, 572888.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203649.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5479.99 : 50.00 : Estimated East Bias at time = 5479.99 : 50.00 : Estimated Depth Bias at time = 5479.99 : 0.00 : Estimated northing and easting = 4063349.38 : 572938.09 : NMEA Update: $GPGGA,203649.59,3642.7554,N,-12211.0327,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203650.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203650.59,3642.7558,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,203651.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203651.59,3642.7563,N,-12211.0324,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203652.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203652.59,3642.7568,N,-12211.0324,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203653.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203653.59,3642.7573,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203654.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203654.59,3642.7578,N,-12211.0326,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203655.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203655.59,3642.7583,N,-12211.0328,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203656.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203656.59,3642.7587,N,-12211.0331,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203657.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203657.59,3642.7591,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203658.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203658.59,3642.7595,N,-12211.0340,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainNav update at nav time = 5489.993910 : TerrainNav update at dvl time = 5489.993910 : _navData-> (x,y) = (4063307.76, 572886.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203659.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5489.99 : 50.00 : Estimated East Bias at time = 5489.99 : 50.00 : Estimated Depth Bias at time = 5489.99 : 0.00 : Estimated northing and easting = 4063357.76 : 572936.23 : NMEA Update: $GPGGA,203659.59,3642.7598,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203700.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203700.59,3642.7600,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,203701.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203701.59,3642.7601,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203702.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203702.59,3642.7602,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203703.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203703.59,3642.7602,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203704.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203704.59,3642.7601,N,-12211.0376,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,203705.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203705.59,3642.7599,N,-12211.0382,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,203706.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203706.59,3642.7597,N,-12211.0388,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203707.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203707.59,3642.7594,N,-12211.0393,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203708.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203708.59,3642.7591,N,-12211.0398,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 5500.003224 : TerrainNav update at dvl time = 5500.003224 : _navData-> (x,y) = (4063306.73, 572877.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203709.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5500.00 : 50.00 : Estimated East Bias at time = 5500.00 : 50.00 : Estimated Depth Bias at time = 5500.00 : 0.00 : Estimated northing and easting = 4063356.73 : 572927.62 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203709.59,3642.7587,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,203710.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203710.59,3642.7583,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203711.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203711.59,3642.7578,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203712.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203712.59,3642.7573,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203713.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203713.59,3642.7568,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203714.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203714.59,3642.7563,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203715.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203715.59,3642.7558,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,203716.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203716.59,3642.7553,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203717.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203717.59,3642.7549,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203718.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203718.59,3642.7544,N,-12211.0404,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 5510.002539 : TerrainNav update at dvl time = 5510.002539 : _navData-> (x,y) = (4063298.09, 572877.05) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5510.00 : 50.00 : Estimated East Bias at time = 5510.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,203719.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 5510.00 : 0.00 : Estimated northing and easting = 4063348.09 : 572927.05 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203719.59,3642.7540,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203720.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203720.59,3642.7537,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203721.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203721.59,3642.7534,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203722.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203722.59,3642.7532,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203723.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203723.59,3642.7530,N,-12211.0378,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203724.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203724.59,3642.7530,N,-12211.0372,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203725.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203725.59,3642.7529,N,-12211.0366,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203726.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203726.59,3642.7530,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203727.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203727.59,3642.7531,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203728.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203728.59,3642.7533,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 5520.001854 : TerrainNav update at dvl time = 5520.001854 : _navData-> (x,y) = (4063296.39, 572885.46) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5520.00 : 50.00 : Estimated East Bias at time = 5520.00 : 50.00 : Estimated Depth Bias at time = 5520.00 : 0.00 : Estimated northing and easting = 4063346.39 : 572935.46 : AshtechGps::processRecord() - $GPGGA,203729.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203729.59,3642.7536,N,-12211.0343,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,203730.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203730.59,3642.7539,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203731.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203731.59,3642.7543,N,-12211.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203732.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203732.59,3642.7548,N,-12211.0330,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,203733.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203733.59,3642.7552,N,-12211.0328,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203734.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203734.59,3642.7558,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203735.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203735.59,3642.7563,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203736.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203736.59,3642.7568,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203737.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203737.59,3642.7573,N,-12211.0326,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203738.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203738.59,3642.7578,N,-12211.0328,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 5530.001169 : TerrainNav update at dvl time = 5530.001169 : _navData-> (x,y) = (4063304.70, 572888.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5530.00 : 50.00 : Estimated East Bias at time = 5530.00 : 50.00 : Estimated Depth Bias at time = 5530.00 : 0.00 : Estimated northing and easting = 4063354.70 : 572938.17 : AshtechGps::processRecord() - $GPGGA,203739.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203739.59,3642.7582,N,-12211.0331,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,203740.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203740.59,3642.7586,N,-12211.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203741.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203741.59,3642.7590,N,-12211.0339,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203742.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203742.59,3642.7593,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203743.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203743.59,3642.7595,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203744.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203744.59,3642.7597,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203745.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203745.59,3642.7598,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203746.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203746.59,3642.7599,N,-12211.0367,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,203747.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203747.58,3642.7598,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,203748.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203748.58,3642.7597,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5540.000484 : TerrainNav update at dvl time = 5540.000484 : _navData-> (x,y) = (4063307.95, 572880.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203749.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5540.00 : 50.00 : Estimated East Bias at time = 5540.00 : 50.00 : Estimated Depth Bias at time = 5540.00 : 0.00 : Estimated northing and easting = 4063357.95 : 572930.37 : NMEA Update: $GPGGA,203749.58,3642.7595,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203750.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203750.58,3642.7592,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203751.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203751.58,3642.7589,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203752.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203752.58,3642.7586,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203753.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203753.58,3642.7582,N,-12211.0403,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,203754.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203754.58,3642.7577,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203755.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203755.58,3642.7572,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203756.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203756.58,3642.7568,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,203757.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203757.58,3642.7563,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,203758.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203758.58,3642.7557,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 5549.999799 : TerrainNav update at dvl time = 5549.999799 : _navData-> (x,y) = (4063300.52, 572876.23) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5550.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,203759.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 5550.00 : 50.00 : Estimated Depth Bias at time = 5550.00 : 0.00 : Estimated northing and easting = 4063350.52 : 572926.23 : NMEA Update: $GPGGA,203759.58,3642.7553,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203800.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203800.58,3642.7548,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203801.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203801.58,3642.7544,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,203802.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203802.58,3642.7540,N,-12211.0398,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203803.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203803.58,3642.7537,N,-12211.0393,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,203804.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203804.58,3642.7533,N,-12211.0388,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,203805.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203805.58,3642.7531,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,203806.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203806.58,3642.7530,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203807.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203807.58,3642.7528,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203808.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203808.58,3642.7528,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 5559.999114 : TerrainNav update at dvl time = 5559.999114 : _navData-> (x,y) = (4063295.38, 572883.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203809.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5560.00 : 50.00 : Estimated East Bias at time = 5560.00 : 50.00 : Estimated Depth Bias at time = 5560.00 : 0.00 : Estimated northing and easting = 4063345.38 : 572933.14 : NMEA Update: $GPGGA,203809.58,3642.7529,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203810.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203810.58,3642.7530,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203811.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203811.58,3642.7532,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203812.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203812.58,3642.7535,N,-12211.0341,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,203813.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203813.58,3642.7538,N,-12211.0336,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203814.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203814.58,3642.7542,N,-12211.0332,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203815.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203815.58,3642.7546,N,-12211.0329,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,203816.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203816.58,3642.7551,N,-12211.0327,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203817.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203817.58,3642.7556,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203818.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203818.58,3642.7561,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 5569.998429 : TerrainNav update at dvl time = 5569.998429 : _navData-> (x,y) = (4063301.60, 572888.75) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5570.00 : 50.00 : Estimated East Bias at time = 5570.00 : 50.00 : Estimated Depth Bias at time = 5570.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,203819.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063351.60 : 572938.75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203819.58,3642.7566,N,-12211.0325,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203820.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203820.58,3642.7571,N,-12211.0327,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203821.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203821.58,3642.7576,N,-12211.0329,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,203822.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203822.58,3642.7580,N,-12211.0331,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203823.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203823.58,3642.7584,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203824.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203824.58,3642.7588,N,-12211.0339,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,203825.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203825.58,3642.7591,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203826.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203826.58,3642.7593,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203827.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203827.58,3642.7595,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203828.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203828.58,3642.7596,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 5579.997744 : TerrainNav update at dvl time = 5579.997744 : _navData-> (x,y) = (4063307.98, 572883.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203829.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5580.00 : 50.00 : Estimated East Bias at time = 5580.00 : 50.00 : Estimated Depth Bias at time = 5580.00 : 0.00 : Estimated northing and easting = 4063357.98 : 572933.13 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203829.58,3642.7597,N,-12211.0367,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203830.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203830.58,3642.7597,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203831.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203831.58,3642.7596,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203832.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203832.58,3642.7595,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,203833.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203833.58,3642.7592,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203834.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203834.58,3642.7590,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203835.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203835.58,3642.7587,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203836.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203836.58,3642.7583,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203837.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203837.58,3642.7579,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203838.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203838.58,3642.7574,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 5589.997059 : TerrainNav update at dvl time = 5589.997059 : _navData-> (x,y) = (4063303.55, 572875.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203839.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5590.00 : 50.00 : Estimated East Bias at time = 5590.00 : 50.00 : Estimated Depth Bias at time = 5590.00 : 0.00 : Estimated northing and easting = 4063353.55 : 572925.86 : NMEA Update: $GPGGA,203839.58,3642.7569,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,203840.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203840.58,3642.7564,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203841.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203841.58,3642.7559,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203842.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203842.58,3642.7554,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203843.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203843.58,3642.7549,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,203844.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203844.58,3642.7545,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203845.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203845.58,3642.7540,N,-12211.0404,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,203846.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203846.58,3642.7537,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,203847.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203847.58,3642.7533,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,203848.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203848.58,3642.7531,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 5599.996374 : TerrainNav update at dvl time = 5599.996374 : _navData-> (x,y) = (4063295.72, 572879.26) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203849.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5600.00 : 50.00 : Estimated East Bias at time = 5600.00 : 50.00 : Estimated Depth Bias at time = 5600.00 : 0.00 : Estimated northing and easting = 4063345.72 : 572929.26 : NMEA Update: $GPGGA,203849.58,3642.7529,N,-12211.0384,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203850.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203850.58,3642.7528,N,-12211.0378,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,203851.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203851.58,3642.7527,N,-12211.0372,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203852.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203852.58,3642.7528,N,-12211.0365,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203853.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203853.58,3642.7528,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,203854.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203854.58,3642.7530,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203855.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203855.58,3642.7532,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203856.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203856.58,3642.7535,N,-12211.0343,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203857.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203857.58,3642.7539,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203858.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203858.58,3642.7542,N,-12211.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5609.995689 : TerrainNav update at dvl time = 5609.995689 : _navData-> (x,y) = (4063298.13, 572887.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203859.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5610.00 : 50.00 : Estimated East Bias at time = 5610.00 : 50.00 : Estimated Depth Bias at time = 5610.00 : 0.00 : Estimated northing and easting = 4063348.13 : 572937.43 : NMEA Update: $GPGGA,203859.58,3642.7546,N,-12211.0331,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203900.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203900.58,3642.7551,N,-12211.0329,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203901.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203901.58,3642.7556,N,-12211.0327,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,203902.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203902.58,3642.7561,N,-12211.0327,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203903.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203903.58,3642.7566,N,-12211.0328,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203904.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203904.58,3642.7571,N,-12211.0329,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203905.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203905.58,3642.7576,N,-12211.0331,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203906.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203906.58,3642.7580,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203907.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203907.58,3642.7584,N,-12211.0339,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,203908.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203908.58,3642.7587,N,-12211.0343,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 5619.995004 : TerrainNav update at dvl time = 5619.995004 : _navData-> (x,y) = (4063306.30, 572885.77) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5620.00 : 50.00 : Estimated East Bias at time = 5620.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,203909.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 5620.00 : 0.00 : Estimated northing and easting = 4063356.30 : 572935.77 : NMEA Update: $GPGGA,203909.58,3642.7589,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203910.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203910.58,3642.7591,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,203911.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203911.59,3642.7593,N,-12211.0360,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,203912.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203912.59,3642.7593,N,-12211.0367,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203913.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203913.59,3642.7594,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203914.00,,,,,0,00,,,M,,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203914.59,3642.7593,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,203915.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203915.59,3642.7592,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203916.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203916.59,3642.7590,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203917.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203917.59,3642.7587,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203918.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203918.59,3642.7584,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 5629.994319 : TerrainNav update at dvl time = 5629.994319 : _navData-> (x,y) = (4063305.46, 572877.28) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5629.99 : 50.00 : Estimated East Bias at time = 5629.99 : 50.00 : Estimated Depth Bias at time = 5629.99 : 0.00 : Estimated northing and easting = 4063355.46 : 572927.28 : AshtechGps::processRecord() - $GPGGA,203919.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203919.59,3642.7580,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203920.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203920.59,3642.7576,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,203921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203921.59,3642.7572,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203922.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203922.59,3642.7567,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203923.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203923.59,3642.7562,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203924.59,3642.7557,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,203925.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203925.59,3642.7552,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203926.59,3642.7547,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203927.59,3642.7542,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,203928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203928.59,3642.7538,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 5639.993634 : TerrainNav update at dvl time = 5639.993634 : _navData-> (x,y) = (4063296.87, 572876.27) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5639.99 : 50.00 : Estimated East Bias at time = 5639.99 : 50.00 : Estimated Depth Bias at time = 5639.99 : 0.00 : Estimated northing and easting = 4063346.87 : 572926.27 : AshtechGps::processRecord() - $GPGGA,203929.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203929.59,3642.7534,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,203930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203930.59,3642.7530,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203931.59,3642.7528,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,203932.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203932.59,3642.7525,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203933.59,3642.7523,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203934.59,3642.7523,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203935.59,3642.7523,N,-12211.0372,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,203936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203936.59,3642.7524,N,-12211.0366,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,203937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203937.59,3642.7525,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203938.59,3642.7528,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 5650.002948 : TerrainNav update at dvl time = 5650.002948 : _navData-> (x,y) = (4063295.33, 572884.43) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5650.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,203939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 5650.00 : 50.00 : Estimated Depth Bias at time = 5650.00 : 0.00 : Estimated northing and easting = 4063345.33 : 572934.43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203939.59,3642.7530,N,-12211.0350,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203940.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203940.59,3642.7534,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203941.59,3642.7538,N,-12211.0342,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203942.59,3642.7542,N,-12211.0339,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203943.59,3642.7547,N,-12211.0336,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,203944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203944.59,3642.7552,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203945.59,3642.7557,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,203946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203946.59,3642.7561,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203947.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203947.59,3642.7566,N,-12211.0336,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203948.59,3642.7571,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 5660.002263 : TerrainNav update at dvl time = 5660.002263 : _navData-> (x,y) = (4063303.42, 572886.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5660.00 : 50.00 : Estimated East Bias at time = 5660.00 : 50.00 : Estimated Depth Bias at time = 5660.00 : 0.00 : Estimated northing and easting = 4063353.42 : 572936.61 : NMEA Update: $GPGGA,203949.59,3642.7575,N,-12211.0341,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203950.59,3642.7579,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,203951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203951.59,3642.7583,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203952.59,3642.7586,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,203953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203953.59,3642.7588,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203954.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203954.59,3642.7590,N,-12211.0365,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203955.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203955.59,3642.7591,N,-12211.0371,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203956.59,3642.7591,N,-12211.0378,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,203957.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203957.59,3642.7591,N,-12211.0384,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,203958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203958.59,3642.7589,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainNav update at nav time = 5670.001578 : TerrainNav update at dvl time = 5670.001578 : _navData-> (x,y) = (4063306.58, 572878.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5670.00 : 50.00 : Estimated East Bias at time = 5670.00 : 50.00 : Estimated Depth Bias at time = 5670.00 : 0.00 : Estimated northing and easting = 4063356.58 : 572928.81 : NMEA Update: $GPGGA,203959.59,3642.7588,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204000.59,3642.7585,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204001.59,3642.7582,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204002.59,3642.7579,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204003.59,3642.7574,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204004.59,3642.7570,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204005.59,3642.7565,N,-12211.0420,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204006.59,3642.7561,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204007.59,3642.7555,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204008.59,3642.7551,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5680.000893 : TerrainNav update at dvl time = 5680.000893 : _navData-> (x,y) = (4063299.21, 572874.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5680.00 : 50.00 : Estimated East Bias at time = 5680.00 : 50.00 : Estimated Depth Bias at time = 5680.00 : 0.00 : Estimated northing and easting = 4063349.21 : 572924.23 : NMEA Update: $GPGGA,204009.59,3642.7546,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204010.59,3642.7541,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204011.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204011.59,3642.7536,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204012.59,3642.7532,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204013.58,3642.7528,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204014.58,3642.7525,N,-12211.0403,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204015.58,3642.7523,N,-12211.0398,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204016.58,3642.7521,N,-12211.0392,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204017.58,3642.7520,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204018.58,3642.7520,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 5690.000208 : TerrainNav update at dvl time = 5690.000208 : _navData-> (x,y) = (4063293.72, 572880.92) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5690.00 : 50.00 : Estimated East Bias at time = 5690.00 : 50.00 : Estimated Depth Bias at time = 5690.00 : 0.00 : Estimated northing and easting = 4063343.72 : 572930.92 : NMEA Update: $GPGGA,204019.58,3642.7520,N,-12211.0372,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204020.58,3642.7521,N,-12211.0366,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204021.58,3642.7523,N,-12211.0360,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204022.58,3642.7526,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204023.58,3642.7529,N,-12211.0350,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204024.58,3642.7533,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204025.58,3642.7537,N,-12211.0341,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204026.58,3642.7541,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204027.58,3642.7546,N,-12211.0336,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204028.58,3642.7551,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 5699.999523 : TerrainNav update at dvl time = 5699.999523 : _navData-> (x,y) = (4063299.78, 572887.26) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204029.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5700.00 : 50.00 : Estimated East Bias at time = 5700.00 : 50.00 : Estimated Depth Bias at time = 5700.00 : 0.00 : Estimated northing and easting = 4063349.78 : 572937.26 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204029.58,3642.7556,N,-12211.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204030.58,3642.7561,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204031.58,3642.7566,N,-12211.0336,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204032.58,3642.7571,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204033.58,3642.7575,N,-12211.0341,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204034.58,3642.7579,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204035.58,3642.7583,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204036.58,3642.7586,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204037.58,3642.7589,N,-12211.0360,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204038.58,3642.7591,N,-12211.0366,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 5709.998838 : TerrainNav update at dvl time = 5709.998838 : _navData-> (x,y) = (4063306.94, 572882.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204039.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5710.00 : 50.00 : Estimated East Bias at time = 5710.00 : 50.00 : Estimated Depth Bias at time = 5710.00 : 0.00 : Estimated northing and easting = 4063356.94 : 572932.40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204039.58,3642.7592,N,-12211.0372,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204040.58,3642.7592,N,-12211.0378,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204041.58,3642.7591,N,-12211.0384,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204042.58,3642.7590,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204043.58,3642.7588,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204044.58,3642.7585,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204045.58,3642.7582,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204046.58,3642.7578,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204047.58,3642.7574,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204048.58,3642.7569,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 5719.998153 : TerrainNav update at dvl time = 5719.998153 : _navData-> (x,y) = (4063302.62, 572874.97) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5720.00 : 50.00 : Estimated East Bias at time = 5720.00 : 50.00 : Estimated Depth Bias at time = 5720.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,204049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063352.62 : 572924.97 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204049.58,3642.7564,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204050.58,3642.7559,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204051.58,3642.7554,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204052.58,3642.7549,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204053.58,3642.7544,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204054.58,3642.7539,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204055.58,3642.7534,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204056.58,3642.7531,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204057.58,3642.7527,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204058.58,3642.7524,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 5729.997468 : TerrainNav update at dvl time = 5729.997468 : _navData-> (x,y) = (4063294.47, 572877.67) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5730.00 : 50.00 : Estimated East Bias at time = 5730.00 : 50.00 : Estimated Depth Bias at time = 5730.00 : 0.00 : Estimated northing and easting = 4063344.47 : 572927.67 : NMEA Update: $GPGGA,204059.58,3642.7522,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204100.58,3642.7520,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204101.58,3642.7520,N,-12211.0382,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204102.58,3642.7519,N,-12211.0376,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204103.58,3642.7520,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204104.58,3642.7522,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204105.58,3642.7523,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204106.58,3642.7526,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204107.58,3642.7529,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204108.58,3642.7533,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainNav update at nav time = 5739.996783 : TerrainNav update at dvl time = 5739.996783 : _navData-> (x,y) = (4063296.38, 572886.05) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5740.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,204109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 5740.00 : 50.00 : Estimated Depth Bias at time = 5740.00 : 0.00 : Estimated northing and easting = 4063346.38 : 572936.05 : NMEA Update: $GPGGA,204109.58,3642.7537,N,-12211.0340,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204110.58,3642.7542,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204111.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204111.58,3642.7546,N,-12211.0336,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204112.58,3642.7551,N,-12211.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204113.58,3642.7556,N,-12211.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204114.58,3642.7561,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204115.58,3642.7566,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204116.58,3642.7570,N,-12211.0340,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204117.58,3642.7574,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204118.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204118.58,3642.7578,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5749.996098 : TerrainNav update at dvl time = 5749.996098 : _navData-> (x,y) = (4063304.64, 572885.03) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5750.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,204119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 5750.00 : 50.00 : Estimated Depth Bias at time = 5750.00 : 0.00 : Estimated northing and easting = 4063354.64 : 572935.03 : NMEA Update: $GPGGA,204119.58,3642.7581,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204120.00,,,,,0,00,,,M,,M,,*4D : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204120.58,3642.7584,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204121.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204121.58,3642.7586,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204122.58,3642.7587,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204123.58,3642.7587,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204124.58,3642.7587,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204125.58,3642.7587,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204126.58,3642.7585,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204127.58,3642.7583,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204128.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204128.58,3642.7580,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 5759.995413 : TerrainNav update at dvl time = 5759.995413 : _navData-> (x,y) = (4063304.69, 572876.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204129.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5760.00 : 50.00 : Estimated East Bias at time = 5760.00 : 50.00 : Estimated Depth Bias at time = 5760.00 : 0.00 : Estimated northing and easting = 4063354.69 : 572926.54 : NMEA Update: $GPGGA,204129.58,3642.7576,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204130.58,3642.7573,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204131.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204131.58,3642.7568,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204132.58,3642.7563,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204133.58,3642.7558,N,-12211.0420,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204134.58,3642.7553,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204135.58,3642.7548,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204136.58,3642.7543,N,-12211.0420,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204137.59,3642.7539,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204138.59,3642.7534,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 5769.994728 : TerrainNav update at dvl time = 5769.994728 : _navData-> (x,y) = (4063296.15, 572875.36) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5769.99 : 50.00 : Estimated East Bias at time = 5769.99 : 50.00 : Estimated Depth Bias at time = 5769.99 : 0.00 : Estimated northing and easting = 4063346.15 : 572925.36 : AshtechGps::processRecord() - $GPGGA,204139.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204139.59,3642.7529,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204140.59,3642.7525,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204141.59,3642.7521,N,-12211.0403,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204142.59,3642.7518,N,-12211.0399,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204143.59,3642.7516,N,-12211.0393,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204144.59,3642.7514,N,-12211.0387,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204145.59,3642.7514,N,-12211.0381,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204146.59,3642.7514,N,-12211.0375,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204147.59,3642.7514,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204148.59,3642.7516,N,-12211.0362,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 5779.994043 : TerrainNav update at dvl time = 5779.994043 : _navData-> (x,y) = (4063293.09, 572883.37) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 5779.99 : 50.00 : Estimated East Bias at time = 5779.99 : 50.00 : Estimated Depth Bias at time = 5779.99 : 0.00 : Estimated northing and easting = 4063343.09 : 572933.37 : AshtechGps::processRecord() - $GPGGA,204149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204149.59,3642.7518,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204150.59,3642.7521,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204151.59,3642.7524,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204152.59,3642.7528,N,-12211.0343,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204153.59,3642.7532,N,-12211.0339,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204154.59,3642.7536,N,-12211.0337,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204155.59,3642.7541,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204156.59,3642.7546,N,-12211.0334,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204157.59,3642.7551,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204158.59,3642.7557,N,-12211.0335,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainNav update at nav time = 5789.993358 : TerrainNav update at dvl time = 5789.993358 : _navData-> (x,y) = (4063300.83, 572887.12) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5789.99 : 50.00 : Estimated East Bias at time = 5789.99 : 50.00 : Estimated Depth Bias at time = 5789.99 : 0.00 : Estimated northing and easting = 4063350.83 : 572937.12 : AshtechGps::processRecord() - $GPGGA,204159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204159.59,3642.7562,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204200.59,3642.7566,N,-12211.0341,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204201.59,3642.7570,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204202.59,3642.7573,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204203.59,3642.7576,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204204.59,3642.7579,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204205.59,3642.7581,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204206.59,3642.7582,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204207.59,3642.7582,N,-12211.0376,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204208.59,3642.7581,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainNav update at nav time = 5800.002673 : TerrainNav update at dvl time = 5800.002673 : _navData-> (x,y) = (4063305.06, 572879.90) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5800.00 : 50.00 : Estimated East Bias at time = 5800.00 : 50.00 : Estimated Depth Bias at time = 5800.00 : 0.00 : Estimated northing and easting = 4063355.06 : 572929.90 : AshtechGps::processRecord() - $GPGGA,204209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204209.59,3642.7580,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204210.59,3642.7578,N,-12211.0394,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204211.59,3642.7576,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204212.59,3642.7573,N,-12211.0404,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204213.59,3642.7569,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204214.59,3642.7565,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204215.59,3642.7561,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204216.59,3642.7556,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204217.59,3642.7551,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204218.59,3642.7547,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 5810.001988 : TerrainNav update at dvl time = 5810.001988 : _navData-> (x,y) = (4063298.47, 572874.85) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5810.00 : 50.00 : Estimated East Bias at time = 5810.00 : 50.00 : Estimated Depth Bias at time = 5810.00 : 0.00 : Estimated northing and easting = 4063348.47 : 572924.85 : AshtechGps::processRecord() - $GPGGA,204219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204219.59,3642.7542,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204220.59,3642.7537,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204221.59,3642.7532,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204222.59,3642.7528,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204223.59,3642.7524,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204224.59,3642.7520,N,-12211.0403,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204225.59,3642.7517,N,-12211.0397,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204226.59,3642.7515,N,-12211.0392,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204227.59,3642.7514,N,-12211.0386,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204228.59,3642.7513,N,-12211.0380,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5820.001302 : TerrainNav update at dvl time = 5820.001302 : _navData-> (x,y) = (4063292.57, 572880.78) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5820.00 : 50.00 : Estimated East Bias at time = 5820.00 : 50.00 : Estimated Depth Bias at time = 5820.00 : 0.00 : Estimated northing and easting = 4063342.57 : 572930.78 : AshtechGps::processRecord() - $GPGGA,204229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204229.59,3642.7513,N,-12211.0374,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204230.59,3642.7514,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204231.59,3642.7515,N,-12211.0362,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204232.59,3642.7518,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204233.59,3642.7520,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204234.59,3642.7524,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204235.59,3642.7527,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204236.59,3642.7532,N,-12211.0342,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204237.59,3642.7536,N,-12211.0340,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204238.59,3642.7541,N,-12211.0339,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 5830.000618 : TerrainNav update at dvl time = 5830.000618 : _navData-> (x,y) = (4063297.95, 572886.71) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5830.00 : 50.00 : Estimated East Bias at time = 5830.00 : 50.00 : Estimated Depth Bias at time = 5830.00 : 0.00 : Estimated northing and easting = 4063347.95 : 572936.71 : NMEA Update: $GPGGA,204239.58,3642.7546,N,-12211.0338,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204240.58,3642.7551,N,-12211.0339,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204241.58,3642.7556,N,-12211.0341,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204242.58,3642.7561,N,-12211.0343,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204243.58,3642.7565,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204244.58,3642.7569,N,-12211.0350,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204245.58,3642.7572,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204246.58,3642.7575,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204247.58,3642.7577,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204248.58,3642.7579,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 5839.999933 : TerrainNav update at dvl time = 5839.999933 : _navData-> (x,y) = (4063304.73, 572881.85) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5840.00 : 50.00 : Estimated East Bias at time = 5840.00 : 50.00 : Estimated Depth Bias at time = 5840.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,204249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063354.73 : 572931.85 : NMEA Update: $GPGGA,204249.58,3642.7580,N,-12211.0376,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204250.58,3642.7580,N,-12211.0382,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204251.58,3642.7580,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204252.58,3642.7579,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204253.58,3642.7577,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204254.58,3642.7575,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204255.58,3642.7571,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204256.58,3642.7567,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204257.58,3642.7563,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204258.58,3642.7559,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 5849.999248 : TerrainNav update at dvl time = 5849.999248 : _navData-> (x,y) = (4063300.71, 572874.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5850.00 : 50.00 : Estimated East Bias at time = 5850.00 : 50.00 : Estimated Depth Bias at time = 5850.00 : 0.00 : Estimated northing and easting = 4063350.71 : 572924.40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204259.58,3642.7554,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204300.58,3642.7549,N,-12211.0424,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204301.58,3642.7544,N,-12211.0424,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204302.58,3642.7539,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204303.58,3642.7534,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204304.58,3642.7530,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204305.58,3642.7525,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204306.58,3642.7522,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204307.58,3642.7518,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204308.58,3642.7516,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainNav update at nav time = 5859.998563 : TerrainNav update at dvl time = 5859.998563 : _navData-> (x,y) = (4063292.86, 572877.41) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5860.00 : 50.00 : Estimated East Bias at time = 5860.00 : 50.00 : Estimated Depth Bias at time = 5860.00 : 0.00 : Estimated northing and easting = 4063342.86 : 572927.41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204309.58,3642.7513,N,-12211.0397,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204310.58,3642.7512,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204311.58,3642.7511,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204312.58,3642.7511,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204313.58,3642.7512,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204314.58,3642.7513,N,-12211.0367,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204315.58,3642.7515,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204316.58,3642.7518,N,-12211.0356,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204317.58,3642.7521,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204318.58,3642.7525,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 5869.997878 : TerrainNav update at dvl time = 5869.997878 : _navData-> (x,y) = (4063294.83, 572885.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5870.00 : 50.00 : Estimated East Bias at time = 5870.00 : 50.00 : Estimated Depth Bias at time = 5870.00 : 0.00 : Estimated northing and easting = 4063344.83 : 572935.54 : NMEA Update: $GPGGA,204319.58,3642.7529,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204320.58,3642.7533,N,-12211.0342,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204321.58,3642.7537,N,-12211.0342,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204322.58,3642.7542,N,-12211.0341,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204323.58,3642.7547,N,-12211.0342,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204324.58,3642.7552,N,-12211.0343,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204325.58,3642.7556,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204326.58,3642.7560,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204327.58,3642.7564,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204328.58,3642.7567,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : TerrainNav update at nav time = 5879.997193 : TerrainNav update at dvl time = 5879.997193 : _navData-> (x,y) = (4063302.69, 572883.68) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5880.00 : 50.00 : Estimated East Bias at time = 5880.00 : 50.00 : Estimated Depth Bias at time = 5880.00 : 0.00 : Estimated northing and easting = 4063352.69 : 572933.68 : NMEA Update: $GPGGA,204329.58,3642.7570,N,-12211.0363,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204330.58,3642.7572,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204331.58,3642.7574,N,-12211.0374,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204332.58,3642.7574,N,-12211.0380,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204333.58,3642.7574,N,-12211.0386,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204334.58,3642.7574,N,-12211.0392,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204335.58,3642.7572,N,-12211.0398,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204336.58,3642.7570,N,-12211.0403,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204337.58,3642.7567,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204338.58,3642.7564,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5889.996508 : TerrainNav update at dvl time = 5889.996508 : _navData-> (x,y) = (4063301.85, 572875.41) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5890.00 : 50.00 : Estimated East Bias at time = 5890.00 : 50.00 : Estimated Depth Bias at time = 5890.00 : 0.00 : Estimated northing and easting = 4063351.85 : 572925.41 : NMEA Update: $GPGGA,204339.58,3642.7560,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204340.58,3642.7556,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204341.58,3642.7552,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204342.58,3642.7547,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204343.58,3642.7542,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204344.58,3642.7538,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204345.58,3642.7533,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204346.58,3642.7528,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204347.58,3642.7524,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204348.58,3642.7519,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 5899.995823 : TerrainNav update at dvl time = 5899.995823 : _navData-> (x,y) = (4063293.48, 572874.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5900.00 : 50.00 : Estimated East Bias at time = 5900.00 : 50.00 : Estimated Depth Bias at time = 5900.00 : 0.00 : Estimated northing and easting = 4063343.48 : 572924.83 : NMEA Update: $GPGGA,204349.58,3642.7516,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204350.58,3642.7512,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204351.58,3642.7509,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204352.58,3642.7507,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204353.58,3642.7506,N,-12211.0394,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204354.58,3642.7505,N,-12211.0388,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204355.58,3642.7505,N,-12211.0382,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204356.58,3642.7506,N,-12211.0376,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204357.58,3642.7507,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204358.58,3642.7510,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 5909.995138 : TerrainNav update at dvl time = 5909.995138 : _navData-> (x,y) = (4063292.00, 572883.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5910.00 : 50.00 : Estimated East Bias at time = 5910.00 : 50.00 : Estimated Depth Bias at time = 5910.00 : 0.00 : Estimated northing and easting = 4063342.00 : 572933.08 : NMEA Update: $GPGGA,204359.58,3642.7513,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204400.58,3642.7516,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204401.58,3642.7520,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204402.58,3642.7524,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204403.39,3642.7528,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204404.39,3642.7533,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204405.39,3642.7538,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204406.39,3642.7543,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204407.39,3642.7548,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204408.00,,,,,0,00,,,M,,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204408.39,3642.7553,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : TerrainNav update at nav time = 5919.994453 : TerrainNav update at dvl time = 5919.994453 : _navData-> (x,y) = (4063300.22, 572885.23) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5919.99 : 50.00 : Estimated East Bias at time = 5919.99 : 50.00 : Estimated Depth Bias at time = 5919.99 : 0.00 : Estimated northing and easting = 4063350.22 : 572935.23 : AshtechGps::processRecord() - $GPGGA,204409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204409.39,3642.7557,N,-12211.0350,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204410.39,3642.7561,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204411.39,3642.7565,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204412.39,3642.7569,N,-12211.0362,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204413.39,3642.7571,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204414.39,3642.7573,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204415.39,3642.7574,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204416.39,3642.7575,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204417.39,3642.7575,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204418.39,3642.7574,N,-12211.0397,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 5929.993767 : TerrainNav update at dvl time = 5929.993767 : _navData-> (x,y) = (4063303.63, 572877.58) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5929.99 : 50.00 : Estimated East Bias at time = 5929.99 : 50.00 : Estimated Depth Bias at time = 5929.99 : 0.00 : Estimated northing and easting = 4063353.63 : 572927.58 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204419.39,3642.7572,N,-12211.0403,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204420.39,3642.7570,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204421.39,3642.7567,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204422.39,3642.7563,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204423.39,3642.7559,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204424.39,3642.7555,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204425.39,3642.7550,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204426.39,3642.7546,N,-12211.0428,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204427.39,3642.7541,N,-12211.0429,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204428.39,3642.7536,N,-12211.0429,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 5940.003082 : TerrainNav update at dvl time = 5940.003082 : _navData-> (x,y) = (4063296.36, 572873.34) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5940.00 : 50.00 : Estimated East Bias at time = 5940.00 : 50.00 : Estimated Depth Bias at time = 5940.00 : 0.00 : Estimated northing and easting = 4063346.36 : 572923.34 : AshtechGps::processRecord() - $GPGGA,204429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204429.39,3642.7531,N,-12211.0428,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204430.39,3642.7526,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204431.39,3642.7522,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204432.39,3642.7518,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204433.39,3642.7514,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204434.39,3642.7511,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204435.39,3642.7509,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204436.39,3642.7507,N,-12211.0399,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204437.39,3642.7506,N,-12211.0394,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204438.39,3642.7506,N,-12211.0387,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 5950.002397 : TerrainNav update at dvl time = 5950.002397 : _navData-> (x,y) = (4063291.16, 572879.86) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 5950.00 : 50.00 : Estimated East Bias at time = 5950.00 : 50.00 : Estimated Depth Bias at time = 5950.00 : 0.00 : Estimated northing and easting = 4063341.16 : 572929.86 : AshtechGps::processRecord() - $GPGGA,204439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204439.39,3642.7506,N,-12211.0381,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204440.39,3642.7507,N,-12211.0375,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204441.39,3642.7509,N,-12211.0369,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204442.39,3642.7512,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204443.39,3642.7515,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204444.39,3642.7519,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204445.39,3642.7523,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204446.39,3642.7527,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204447.39,3642.7531,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204448.39,3642.7536,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5960.001712 : TerrainNav update at dvl time = 5960.001712 : _navData-> (x,y) = (4063297.13, 572885.87) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5960.00 : 50.00 : Estimated East Bias at time = 5960.00 : 50.00 : Estimated Depth Bias at time = 5960.00 : 0.00 : Estimated northing and easting = 4063347.13 : 572935.87 : AshtechGps::processRecord() - $GPGGA,204449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204449.39,3642.7541,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204450.39,3642.7545,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204451.39,3642.7550,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204452.39,3642.7555,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204453.39,3642.7559,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204454.39,3642.7563,N,-12211.0356,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204455.39,3642.7566,N,-12211.0360,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204456.39,3642.7568,N,-12211.0365,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204457.39,3642.7571,N,-12211.0371,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204458.39,3642.7572,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 5970.001027 : TerrainNav update at dvl time = 5970.001027 : _navData-> (x,y) = (4063303.47, 572880.54) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5970.00 : 50.00 : Estimated East Bias at time = 5970.00 : 50.00 : Estimated Depth Bias at time = 5970.00 : 0.00 : Estimated northing and easting = 4063353.47 : 572930.54 : AshtechGps::processRecord() - $GPGGA,204459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204459.39,3642.7572,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204500.39,3642.7573,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204501.39,3642.7572,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204502.39,3642.7570,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204503.39,3642.7568,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204504.39,3642.7565,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204505.38,3642.7561,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204506.38,3642.7557,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204507.38,3642.7553,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204508.38,3642.7548,N,-12211.0424,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 5980.000342 : TerrainNav update at dvl time = 5980.000342 : _navData-> (x,y) = (4063298.64, 572873.84) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 5980.00 : 50.00 : Estimated East Bias at time = 5980.00 : 50.00 : NMEA Update: $GPGGA,204509.38,3642.7544,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : Estimated Depth Bias at time = 5980.00 : 0.00 : Estimated northing and easting = 4063348.64 : 572923.84 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204510.38,3642.7539,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204511.38,3642.7534,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204512.38,3642.7529,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204513.38,3642.7524,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204514.38,3642.7520,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204515.38,3642.7516,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204516.38,3642.7513,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204517.38,3642.7510,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204518.38,3642.7508,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : TerrainNav update at nav time = 5989.999657 : TerrainNav update at dvl time = 5989.999657 : _navData-> (x,y) = (4063291.43, 572877.64) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 5990.00 : 50.00 : Estimated East Bias at time = 5990.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,204519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 5990.00 : 0.00 : Estimated northing and easting = 4063341.43 : 572927.64 : NMEA Update: $GPGGA,204519.38,3642.7506,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204520.38,3642.7505,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204521.38,3642.7505,N,-12211.0384,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204522.38,3642.7506,N,-12211.0378,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204523.38,3642.7507,N,-12211.0372,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204524.38,3642.7508,N,-12211.0367,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204525.38,3642.7511,N,-12211.0362,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204526.38,3642.7514,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204527.38,3642.7518,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204528.38,3642.7523,N,-12211.0350,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 5999.998972 : TerrainNav update at dvl time = 5999.998972 : _navData-> (x,y) = (4063294.64, 572885.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6000.00 : 50.00 : Estimated East Bias at time = 6000.00 : 50.00 : Estimated Depth Bias at time = 6000.00 : 0.00 : Estimated northing and easting = 4063344.64 : 572935.12 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204529.38,3642.7527,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204530.38,3642.7532,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204531.38,3642.7537,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204532.38,3642.7542,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204533.38,3642.7547,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204534.38,3642.7552,N,-12211.0350,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204535.38,3642.7556,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204536.38,3642.7560,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204537.38,3642.7564,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204538.38,3642.7567,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 6009.998287 : TerrainNav update at dvl time = 6009.998287 : _navData-> (x,y) = (4063302.66, 572882.61) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6010.00 : 50.00 : Estimated East Bias at time = 6010.00 : 50.00 : Estimated Depth Bias at time = 6010.00 : 0.00 : Estimated northing and easting = 4063352.66 : 572932.61 : AshtechGps::processRecord() - $GPGGA,204539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204539.38,3642.7569,N,-12211.0369,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204540.38,3642.7571,N,-12211.0375,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204541.38,3642.7572,N,-12211.0381,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204542.38,3642.7572,N,-12211.0387,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204543.38,3642.7572,N,-12211.0394,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204544.38,3642.7571,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204545.38,3642.7569,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204546.38,3642.7567,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204547.38,3642.7564,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204548.38,3642.7561,N,-12211.0420,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 6019.997602 : TerrainNav update at dvl time = 6019.997602 : _navData-> (x,y) = (4063301.00, 572874.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6020.00 : 50.00 : Estimated East Bias at time = 6020.00 : 50.00 : Estimated Depth Bias at time = 6020.00 : 0.00 : Estimated northing and easting = 4063351.00 : 572924.35 : NMEA Update: $GPGGA,204549.38,3642.7557,N,-12211.0424,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204550.38,3642.7553,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204551.38,3642.7548,N,-12211.0429,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204552.38,3642.7543,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204553.38,3642.7538,N,-12211.0431,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204554.38,3642.7533,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204555.38,3642.7528,N,-12211.0429,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204556.38,3642.7523,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204557.38,3642.7519,N,-12211.0424,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204558.38,3642.7515,N,-12211.0420,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6029.996917 : TerrainNav update at dvl time = 6029.996917 : _navData-> (x,y) = (4063292.47, 572874.82) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6030.00 : 50.00 : Estimated East Bias at time = 6030.00 : 50.00 : Estimated Depth Bias at time = 6030.00 : 0.00 : Estimated northing and easting = 4063342.47 : 572924.82 : NMEA Update: $GPGGA,204559.38,3642.7511,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204600.38,3642.7508,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204601.38,3642.7505,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204602.38,3642.7503,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204603.38,3642.7501,N,-12211.0394,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204604.38,3642.7501,N,-12211.0388,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204605.38,3642.7501,N,-12211.0382,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204606.38,3642.7501,N,-12211.0376,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204607.38,3642.7503,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204608.38,3642.7505,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6039.996232 : TerrainNav update at dvl time = 6039.996232 : _navData-> (x,y) = (4063291.21, 572883.25) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6040.00 : 50.00 : Estimated East Bias at time = 6040.00 : 50.00 : Estimated Depth Bias at time = 6040.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,204609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4063341.21 : 572933.25 : NMEA Update: $GPGGA,204609.38,3642.7508,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204610.38,3642.7511,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204611.38,3642.7515,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204612.38,3642.7519,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204613.38,3642.7524,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204614.38,3642.7528,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204615.38,3642.7533,N,-12211.0343,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204616.38,3642.7538,N,-12211.0344,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204617.38,3642.7543,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204618.38,3642.7548,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 6049.995547 : TerrainNav update at dvl time = 6049.995547 : _navData-> (x,y) = (4063299.30, 572885.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204619.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6050.00 : 50.00 : Estimated East Bias at time = 6050.00 : 50.00 : Estimated Depth Bias at time = 6050.00 : 0.00 : Estimated northing and easting = 4063349.30 : 572935.21 : NMEA Update: $GPGGA,204619.38,3642.7552,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204620.38,3642.7555,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204621.00,,,,,0,00,,,M,,M,,*4B : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204621.38,3642.7559,N,-12211.0360,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204622.38,3642.7561,N,-12211.0365,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204623.38,3642.7564,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204624.38,3642.7565,N,-12211.0376,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204625.38,3642.7566,N,-12211.0382,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204626.38,3642.7565,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204627.38,3642.7564,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204628.38,3642.7563,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainNav update at nav time = 6059.994862 : TerrainNav update at dvl time = 6059.994862 : _navData-> (x,y) = (4063301.54, 572877.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6059.99 : 50.00 : Estimated East Bias at time = 6059.99 : 50.00 : Estimated Depth Bias at time = 6059.99 : 0.00 : Estimated northing and easting = 4063351.54 : 572927.04 : NMEA Update: $GPGGA,204629.39,3642.7561,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204630.39,3642.7558,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204631.39,3642.7555,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204632.39,3642.7551,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204633.39,3642.7547,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204634.39,3642.7543,N,-12211.0428,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204635.39,3642.7538,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204636.39,3642.7533,N,-12211.0431,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204637.39,3642.7528,N,-12211.0431,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204638.39,3642.7523,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 6069.994177 : TerrainNav update at dvl time = 6069.994177 : _navData-> (x,y) = (4063293.95, 572873.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6069.99 : 50.00 : Estimated East Bias at time = 6069.99 : 50.00 : Estimated Depth Bias at time = 6069.99 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204639.39,3642.7518,N,-12211.0428,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : Estimated northing and easting = 4063343.95 : 572923.18 : AshtechGps::processRecord() - $GPGGA,204640.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204640.39,3642.7514,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204641.39,3642.7510,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204642.39,3642.7506,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204643.39,3642.7503,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204644.39,3642.7500,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204645.39,3642.7498,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204646.39,3642.7497,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204647.39,3642.7497,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204648.39,3642.7497,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainNav update at nav time = 6079.993492 : TerrainNav update at dvl time = 6079.993492 : _navData-> (x,y) = (4063289.62, 572880.45) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204649.39,3642.7498,N,-12211.0378,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : Estimated North Bias at time = 6079.99 : 50.00 : Estimated East Bias at time = 6079.99 : 50.00 : Estimated Depth Bias at time = 6079.99 : 0.00 : Estimated northing and easting = 4063339.62 : 572930.45 : AshtechGps::processRecord() - $GPGGA,204650.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204650.39,3642.7500,N,-12211.0372,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204651.39,3642.7502,N,-12211.0366,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204652.39,3642.7505,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204653.39,3642.7509,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204654.39,3642.7513,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204655.39,3642.7517,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204656.39,3642.7522,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204657.39,3642.7527,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204658.39,3642.7532,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainNav update at nav time = 6090.002806 : TerrainNav update at dvl time = 6090.002806 : _navData-> (x,y) = (4063296.37, 572885.80) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6090.00 : 50.00 : Estimated East Bias at time = 6090.00 : 50.00 : Estimated Depth Bias at time = 6090.00 : 0.00 : Estimated northing and easting = 4063346.37 : 572935.80 : NMEA Update: $GPGGA,204659.39,3642.7537,N,-12211.0345,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204700.39,3642.7542,N,-12211.0346,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204701.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204701.39,3642.7547,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204702.39,3642.7551,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204703.39,3642.7555,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204704.39,3642.7559,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204705.39,3642.7562,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204706.39,3642.7565,N,-12211.0369,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204707.39,3642.7566,N,-12211.0375,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204708.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204708.39,3642.7568,N,-12211.0381,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6100.002121 : TerrainNav update at dvl time = 6100.002121 : _navData-> (x,y) = (4063302.68, 572879.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6100.00 : 50.00 : Estimated East Bias at time = 6100.00 : 50.00 : Estimated Depth Bias at time = 6100.00 : 0.00 : Estimated northing and easting = 4063352.68 : 572929.94 : NMEA Update: $GPGGA,204709.39,3642.7568,N,-12211.0388,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204710.39,3642.7568,N,-12211.0394,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204711.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204711.39,3642.7567,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204712.39,3642.7566,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204713.39,3642.7563,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204714.39,3642.7560,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204715.39,3642.7557,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204716.39,3642.7553,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204717.39,3642.7549,N,-12211.0428,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204718.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204718.39,3642.7544,N,-12211.0431,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6110.001436 : TerrainNav update at dvl time = 6110.001436 : _navData-> (x,y) = (4063297.85, 572872.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6110.00 : 50.00 : Estimated East Bias at time = 6110.00 : 50.00 : Estimated Depth Bias at time = 6110.00 : 0.00 : Estimated northing and easting = 4063347.85 : 572922.89 : NMEA Update: $GPGGA,204719.39,3642.7539,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204720.39,3642.7534,N,-12211.0433,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204721.39,3642.7529,N,-12211.0433,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204722.39,3642.7524,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204723.39,3642.7519,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204724.39,3642.7515,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204725.39,3642.7511,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204726.39,3642.7507,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204727.39,3642.7504,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204728.39,3642.7502,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 6120.000751 : TerrainNav update at dvl time = 6120.000751 : _navData-> (x,y) = (4063290.28, 572876.62) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6120.00 : 50.00 : Estimated East Bias at time = 6120.00 : 50.00 : Estimated Depth Bias at time = 6120.00 : 0.00 : Estimated northing and easting = 4063340.28 : 572926.62 : AshtechGps::processRecord() - $GPGGA,204729.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204729.39,3642.7500,N,-12211.0403,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204730.39,3642.7499,N,-12211.0397,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204731.38,3642.7499,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204732.38,3642.7500,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204733.38,3642.7501,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204734.38,3642.7503,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204735.38,3642.7505,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204736.38,3642.7508,N,-12211.0363,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204737.38,3642.7512,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204738.38,3642.7517,N,-12211.0356,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 6130.000066 : TerrainNav update at dvl time = 6130.000066 : _navData-> (x,y) = (4063293.51, 572884.31) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6130.00 : 50.00 : Estimated East Bias at time = 6130.00 : 50.00 : Estimated Depth Bias at time = 6130.00 : 0.00 : Estimated northing and easting = 4063343.51 : 572934.31 : NMEA Update: $GPGGA,204739.38,3642.7521,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204740.38,3642.7526,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204741.38,3642.7531,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204742.38,3642.7536,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204743.38,3642.7541,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204744.38,3642.7545,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204745.38,3642.7550,N,-12211.0356,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204746.38,3642.7554,N,-12211.0360,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204747.38,3642.7558,N,-12211.0363,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204748.38,3642.7561,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 6139.999381 : TerrainNav update at dvl time = 6139.999381 : _navData-> (x,y) = (4063301.52, 572881.97) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6140.00 : 50.00 : Estimated East Bias at time = 6140.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,204749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 6140.00 : 0.00 : Estimated northing and easting = 4063351.52 : 572931.97 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204749.38,3642.7563,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204750.38,3642.7565,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204751.38,3642.7566,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204752.38,3642.7567,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204753.38,3642.7566,N,-12211.0397,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204754.38,3642.7566,N,-12211.0403,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204755.38,3642.7564,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204756.38,3642.7562,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204757.38,3642.7559,N,-12211.0420,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204758.38,3642.7556,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 6149.998696 : TerrainNav update at dvl time = 6149.998696 : _navData-> (x,y) = (4063300.05, 572873.63) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6150.00 : 50.00 : Estimated East Bias at time = 6150.00 : 50.00 : Estimated Depth Bias at time = 6150.00 : 0.00 : Estimated northing and easting = 4063350.05 : 572923.63 : AshtechGps::processRecord() - $GPGGA,204759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204759.38,3642.7552,N,-12211.0428,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204800.38,3642.7547,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204801.38,3642.7543,N,-12211.0434,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204802.38,3642.7538,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204803.38,3642.7533,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204804.38,3642.7528,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204805.38,3642.7523,N,-12211.0435,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204806.38,3642.7519,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204807.38,3642.7514,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204808.38,3642.7510,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 6159.998011 : TerrainNav update at dvl time = 6159.998011 : _navData-> (x,y) = (4063291.66, 572873.99) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6160.00 : 50.00 : Estimated East Bias at time = 6160.00 : 50.00 : Estimated Depth Bias at time = 6160.00 : 0.00 : Estimated northing and easting = 4063341.66 : 572923.99 : NMEA Update: $GPGGA,204809.38,3642.7507,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204810.38,3642.7504,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204811.38,3642.7501,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204812.38,3642.7499,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204813.38,3642.7498,N,-12211.0399,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204814.38,3642.7497,N,-12211.0393,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204815.38,3642.7498,N,-12211.0386,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204816.38,3642.7498,N,-12211.0380,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204817.38,3642.7500,N,-12211.0374,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204818.38,3642.7502,N,-12211.0369,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6169.997326 : TerrainNav update at dvl time = 6169.997326 : _navData-> (x,y) = (4063290.70, 572882.57) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6170.00 : 50.00 : Estimated East Bias at time = 6170.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,204819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 6170.00 : 0.00 : Estimated northing and easting = 4063340.70 : 572932.57 : NMEA Update: $GPGGA,204819.38,3642.7505,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204820.38,3642.7508,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204821.38,3642.7512,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204822.38,3642.7517,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204823.38,3642.7521,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204824.38,3642.7526,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204825.38,3642.7531,N,-12211.0347,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204826.38,3642.7536,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204827.38,3642.7541,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204828.38,3642.7546,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6179.996641 : TerrainNav update at dvl time = 6179.996641 : _navData-> (x,y) = (4063298.96, 572884.61) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6180.00 : 50.00 : Estimated East Bias at time = 6180.00 : 50.00 : Estimated Depth Bias at time = 6180.00 : 0.00 : Estimated northing and easting = 4063348.96 : 572934.61 : NMEA Update: $GPGGA,204829.38,3642.7550,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204830.38,3642.7554,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204831.38,3642.7557,N,-12211.0363,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204832.38,3642.7560,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204833.38,3642.7563,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204834.38,3642.7564,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204835.38,3642.7565,N,-12211.0386,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204836.38,3642.7565,N,-12211.0392,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204837.38,3642.7565,N,-12211.0398,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204838.38,3642.7564,N,-12211.0404,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 6189.995956 : TerrainNav update at dvl time = 6189.995956 : _navData-> (x,y) = (4063301.72, 572876.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6190.00 : 50.00 : Estimated East Bias at time = 6190.00 : 50.00 : Estimated Depth Bias at time = 6190.00 : 0.00 : Estimated northing and easting = 4063351.72 : 572926.60 : NMEA Update: $GPGGA,204839.38,3642.7562,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204840.38,3642.7559,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204841.38,3642.7556,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204842.38,3642.7552,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204843.38,3642.7548,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204844.38,3642.7544,N,-12211.0429,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204845.38,3642.7539,N,-12211.0431,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,204846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204846.38,3642.7535,N,-12211.0433,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204847.38,3642.7530,N,-12211.0433,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204848.38,3642.7525,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 6199.995271 : TerrainNav update at dvl time = 6199.995271 : _navData-> (x,y) = (4063294.31, 572872.82) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6200.00 : 50.00 : Estimated East Bias at time = 6200.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,204849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 6200.00 : 0.00 : Estimated northing and easting = 4063344.31 : 572922.82 : NMEA Update: $GPGGA,204849.38,3642.7520,N,-12211.0431,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204850.38,3642.7515,N,-12211.0429,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204851.38,3642.7511,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204852.38,3642.7507,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204853.38,3642.7503,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204854.38,3642.7501,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204855.39,3642.7498,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204856.39,3642.7497,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204857.39,3642.7496,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204858.39,3642.7496,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : TerrainNav update at nav time = 6209.994586 : TerrainNav update at dvl time = 6209.994586 : _navData-> (x,y) = (4063289.37, 572879.67) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6209.99 : 50.00 : Estimated East Bias at time = 6209.99 : 50.00 : Estimated Depth Bias at time = 6209.99 : 0.00 : Estimated northing and easting = 4063339.37 : 572929.67 : AshtechGps::processRecord() - $GPGGA,204859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204859.39,3642.7496,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204900.39,3642.7498,N,-12211.0376,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204901.39,3642.7500,N,-12211.0371,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204902.00,,,,,0,00,,,M,,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204902.39,3642.7502,N,-12211.0365,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204903.39,3642.7505,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204904.39,3642.7509,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204905.39,3642.7513,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,204906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204906.39,3642.7518,N,-12211.0351,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204907.39,3642.7523,N,-12211.0349,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204908.00,,,,,0,00,,,M,,M,,*4F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204908.39,3642.7527,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 6219.993901 : TerrainNav update at dvl time = 6219.993901 : _navData-> (x,y) = (4063295.59, 572885.34) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6219.99 : 50.00 : Estimated East Bias at time = 6219.99 : 50.00 : Estimated Depth Bias at time = 6219.99 : 0.00 : Estimated northing and easting = 4063345.59 : 572935.34 : AshtechGps::processRecord() - $GPGGA,204909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204909.39,3642.7533,N,-12211.0348,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204910.39,3642.7538,N,-12211.0350,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204911.39,3642.7542,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204912.39,3642.7547,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204913.39,3642.7551,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204914.39,3642.7555,N,-12211.0362,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204915.39,3642.7558,N,-12211.0367,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204916.39,3642.7560,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204917.39,3642.7562,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204918.39,3642.7563,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : TerrainNav update at nav time = 6230.003216 : TerrainNav update at dvl time = 6230.003216 : _navData-> (x,y) = (4063301.77, 572879.42) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 6230.00 : 50.00 : Estimated East Bias at time = 6230.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,204919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 6230.00 : 0.00 : Estimated northing and easting = 4063351.77 : 572929.42 : NMEA Update: $GPGGA,204919.39,3642.7563,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204920.39,3642.7563,N,-12211.0397,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204921.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204921.39,3642.7562,N,-12211.0404,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204922.39,3642.7561,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204923.39,3642.7558,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204924.39,3642.7555,N,-12211.0420,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204925.39,3642.7552,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204926.39,3642.7548,N,-12211.0428,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204927.39,3642.7544,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204928.39,3642.7539,N,-12211.0434,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6240.002531 : TerrainNav update at dvl time = 6240.002531 : _navData-> (x,y) = (4063296.88, 572872.38) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6240.00 : 50.00 : Estimated East Bias at time = 6240.00 : 50.00 : Estimated Depth Bias at time = 6240.00 : 0.00 : Estimated northing and easting = 4063346.88 : 572922.38 : AshtechGps::processRecord() - $GPGGA,204929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204929.39,3642.7534,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204930.39,3642.7529,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204931.39,3642.7524,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204932.39,3642.7519,N,-12211.0434,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204933.39,3642.7515,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204934.39,3642.7510,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204935.39,3642.7506,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204936.39,3642.7503,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204937.39,3642.7499,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204938.39,3642.7497,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6250.001846 : TerrainNav update at dvl time = 6250.001846 : _navData-> (x,y) = (4063289.31, 572876.20) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6250.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,204939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 6250.00 : 50.00 : Estimated Depth Bias at time = 6250.00 : 0.00 : Estimated northing and easting = 4063339.31 : 572926.20 : NMEA Update: $GPGGA,204939.39,3642.7495,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204940.39,3642.7493,N,-12211.0400,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,204941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204941.39,3642.7493,N,-12211.0394,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204942.39,3642.7493,N,-12211.0388,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204943.39,3642.7494,N,-12211.0382,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204944.39,3642.7495,N,-12211.0376,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,204945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204945.39,3642.7498,N,-12211.0371,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204946.39,3642.7500,N,-12211.0366,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204947.39,3642.7504,N,-12211.0362,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204948.39,3642.7508,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 6260.001161 : TerrainNav update at dvl time = 6260.001161 : _navData-> (x,y) = (4063291.85, 572884.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204949.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6260.00 : 50.00 : Estimated East Bias at time = 6260.00 : 50.00 : Estimated Depth Bias at time = 6260.00 : 0.00 : Estimated northing and easting = 4063341.85 : 572934.05 : NMEA Update: $GPGGA,204949.39,3642.7512,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204950.39,3642.7516,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,204951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204951.39,3642.7521,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204952.39,3642.7526,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204953.39,3642.7531,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204954.39,3642.7536,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,204955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204955.39,3642.7540,N,-12211.0356,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204956.39,3642.7544,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204957.38,3642.7548,N,-12211.0363,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204958.38,3642.7552,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : TerrainNav update at nav time = 6270.000476 : TerrainNav update at dvl time = 6270.000476 : _navData-> (x,y) = (4063299.87, 572882.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204959.38,3642.7554,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : Estimated North Bias at time = 6270.00 : 50.00 : Estimated East Bias at time = 6270.00 : 50.00 : Estimated Depth Bias at time = 6270.00 : 0.00 : Estimated northing and easting = 4063349.87 : 572932.05 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205000.38,3642.7557,N,-12211.0378,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205001.38,3642.7558,N,-12211.0384,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,205002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205002.38,3642.7559,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205003.38,3642.7559,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205004.38,3642.7559,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,205005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205005.38,3642.7557,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,205006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205006.38,3642.7555,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205007.38,3642.7552,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205008.38,3642.7549,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 6279.999790 : TerrainNav update at dvl time = 6279.999790 : _navData-> (x,y) = (4063298.86, 572873.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205009.38,3642.7545,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated North Bias at time = 6280.00 : 50.00 : Estimated East Bias at time = 6280.00 : 50.00 : Estimated Depth Bias at time = 6280.00 : 0.00 : Estimated northing and easting = 4063348.86 : 572923.89 : AshtechGps::processRecord() - $GPGGA,205010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205010.38,3642.7541,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205011.38,3642.7537,N,-12211.0433,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205012.38,3642.7532,N,-12211.0435,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205013.38,3642.7527,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205014.38,3642.7522,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205015.38,3642.7517,N,-12211.0435,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205016.38,3642.7513,N,-12211.0433,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,205017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205017.38,3642.7508,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205018.38,3642.7504,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 6289.999105 : TerrainNav update at dvl time = 6289.999105 : _navData-> (x,y) = (4063290.54, 572873.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205019.38,3642.7501,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : Estimated North Bias at time = 6290.00 : 50.00 : Estimated East Bias at time = 6290.00 : 50.00 : Estimated Depth Bias at time = 6290.00 : 0.00 : Estimated northing and easting = 4063340.54 : 572923.90 : AshtechGps::processRecord() - $GPGGA,205020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205020.38,3642.7498,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205021.38,3642.7495,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205022.38,3642.7494,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,205023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205023.38,3642.7493,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,205024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205024.38,3642.7492,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205025.38,3642.7492,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,205026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205026.38,3642.7494,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205027.38,3642.7495,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205028.38,3642.7498,N,-12211.0372,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 6299.998420 : TerrainNav update at dvl time = 6299.998420 : _navData-> (x,y) = (4063289.95, 572882.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205029.38,3642.7501,N,-12211.0367,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : Estimated North Bias at time = 6300.00 : 50.00 : Estimated East Bias at time = 6300.00 : 50.00 : Estimated Depth Bias at time = 6300.00 : 0.00 : Estimated northing and easting = 4063339.95 : 572932.14 : AshtechGps::processRecord() - $GPGGA,205030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205030.38,3642.7505,N,-12211.0363,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205031.38,3642.7509,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205032.38,3642.7513,N,-12211.0356,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,205033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205033.38,3642.7518,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,205034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205034.38,3642.7523,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205035.38,3642.7527,N,-12211.0353,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205036.38,3642.7532,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,205037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205037.38,3642.7537,N,-12211.0355,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,205038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205038.38,3642.7542,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 6309.997736 : TerrainNav update at dvl time = 6309.997736 : _navData-> (x,y) = (4063298.16, 572883.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6310.00 : 50.00 : Estimated East Bias at time = 6310.00 : 50.00 : NMEA Update: $GPGGA,205039.38,3642.7546,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : Estimated Depth Bias at time = 6310.00 : 0.00 : Estimated northing and easting = 4063348.16 : 572933.71 : AshtechGps::processRecord() - $GPGGA,205040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205040.38,3642.7550,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205041.38,3642.7553,N,-12211.0369,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205042.38,3642.7556,N,-12211.0374,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205043.38,3642.7558,N,-12211.0380,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,205044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205044.38,3642.7559,N,-12211.0386,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,205045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205045.38,3642.7560,N,-12211.0392,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205046.38,3642.7560,N,-12211.0398,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,205047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205047.38,3642.7559,N,-12211.0404,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,205048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205048.38,3642.7558,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6319.997051 : TerrainNav update at dvl time = 6319.997051 : _navData-> (x,y) = (4063300.58, 572875.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6320.00 : 50.00 : Estimated East Bias at time = 6320.00 : 50.00 : Estimated Depth Bias at time = 6320.00 : 0.00 : Estimated northing and easting = 4063350.58 : 572925.63 : NMEA Update: $GPGGA,205049.38,3642.7556,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205050.38,3642.7553,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,205051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205051.38,3642.7550,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205052.38,3642.7546,N,-12211.0431,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205053.38,3642.7542,N,-12211.0435,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,205054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205054.38,3642.7538,N,-12211.0438,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,205055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205055.38,3642.7533,N,-12211.0440,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205056.38,3642.7528,N,-12211.0442,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205057.38,3642.7523,N,-12211.0443,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205058.38,3642.7518,N,-12211.0443,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 6329.996366 : TerrainNav update at dvl time = 6329.996366 : _navData-> (x,y) = (4063292.95, 572871.18) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6330.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,205059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 6330.00 : 50.00 : Estimated Depth Bias at time = 6330.00 : 0.00 : Estimated northing and easting = 4063342.95 : 572921.18 : NMEA Update: $GPGGA,205059.38,3642.7513,N,-12211.0443,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205100.38,3642.7508,N,-12211.0442,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,205101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205101.38,3642.7503,N,-12211.0439,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,205102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205102.38,3642.7499,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205103.38,3642.7495,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205104.38,3642.7491,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,205105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205105.38,3642.7489,N,-12211.0422,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205106.38,3642.7487,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205107.38,3642.7485,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,205108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205108.38,3642.7484,N,-12211.0404,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 6339.995681 : TerrainNav update at dvl time = 6339.995681 : _navData-> (x,y) = (4063287.18, 572877.36) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6340.00 : 50.00 : Estimated East Bias at time = 6340.00 : 50.00 : Estimated Depth Bias at time = 6340.00 : 0.00 : Estimated northing and easting = 4063337.18 : 572927.36 : AshtechGps::processRecord() - $GPGGA,205109.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205109.38,3642.7484,N,-12211.0398,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205110.38,3642.7485,N,-12211.0392,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205111.38,3642.7487,N,-12211.0386,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,205112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205112.38,3642.7489,N,-12211.0380,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,205113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205113.38,3642.7491,N,-12211.0375,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205114.38,3642.7495,N,-12211.0371,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205115.38,3642.7498,N,-12211.0367,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,205116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205116.38,3642.7502,N,-12211.0363,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205117.38,3642.7507,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205118.38,3642.7512,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 6349.994996 : TerrainNav update at dvl time = 6349.994996 : _navData-> (x,y) = (4063292.61, 572883.79) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6349.99 : 50.00 : Estimated East Bias at time = 6349.99 : 50.00 : Estimated Depth Bias at time = 6349.99 : 0.00 : Estimated northing and easting = 4063342.61 : 572933.79 : AshtechGps::processRecord() - $GPGGA,205119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205119.38,3642.7516,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205120.38,3642.7521,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205121.39,3642.7526,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205122.39,3642.7530,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,205123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205123.39,3642.7535,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205124.39,3642.7538,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205125.39,3642.7542,N,-12211.0373,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,205126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205126.39,3642.7544,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,205127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205127.39,3642.7546,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205128.39,3642.7547,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 6359.994311 : TerrainNav update at dvl time = 6359.994311 : _navData-> (x,y) = (4063298.90, 572878.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6359.99 : 50.00 : AshtechGps::processRecord() - $GPGGA,205129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated East Bias at time = 6359.99 : 50.00 : Estimated Depth Bias at time = 6359.99 : 0.00 : Estimated northing and easting = 4063348.90 : 572928.88 : NMEA Update: $GPGGA,205129.39,3642.7548,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,205130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205130.39,3642.7548,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205131.39,3642.7547,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205132.39,3642.7546,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,205133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205133.39,3642.7544,N,-12211.0418,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,205134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205134.39,3642.7541,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205135.39,3642.7537,N,-12211.0428,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205136.39,3642.7533,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205137.39,3642.7529,N,-12211.0434,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205138.39,3642.7525,N,-12211.0437,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 6369.993626 : TerrainNav update at dvl time = 6369.993626 : _navData-> (x,y) = (4063294.23, 572872.02) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 6369.99 : 50.00 : Estimated East Bias at time = 6369.99 : 50.00 : Estimated Depth Bias at time = 6369.99 : 0.00 : Estimated northing and easting = 4063344.23 : 572922.02 : AshtechGps::processRecord() - $GPGGA,205139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205139.39,3642.7520,N,-12211.0438,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205140.39,3642.7515,N,-12211.0439,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,205141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205141.39,3642.7510,N,-12211.0439,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205142.39,3642.7505,N,-12211.0438,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205143.39,3642.7501,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,205144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205144.39,3642.7497,N,-12211.0433,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205145.39,3642.7493,N,-12211.0429,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205146.39,3642.7490,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205147.39,3642.7487,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,205148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205148.39,3642.7485,N,-12211.0414,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6380.002940 : TerrainNav update at dvl time = 6380.002940 : _navData-> (x,y) = (4063287.13, 572875.97) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6380.00 : 50.00 : Estimated East Bias at time = 6380.00 : 50.00 : Estimated Depth Bias at time = 6380.00 : 0.00 : Estimated northing and easting = 4063337.13 : 572925.97 : AshtechGps::processRecord() - $GPGGA,205149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205149.39,3642.7483,N,-12211.0408,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,205150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205150.39,3642.7483,N,-12211.0402,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,205151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205151.39,3642.7483,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205152.39,3642.7484,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205153.39,3642.7486,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205154.39,3642.7488,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,205155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205155.39,3642.7491,N,-12211.0374,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205156.39,3642.7495,N,-12211.0370,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,205157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205157.39,3642.7499,N,-12211.0366,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205158.39,3642.7503,N,-12211.0363,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6390.002255 : TerrainNav update at dvl time = 6390.002255 : _navData-> (x,y) = (4063291.02, 572883.35) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6390.00 : 50.00 : Estimated East Bias at time = 6390.00 : 50.00 : Estimated Depth Bias at time = 6390.00 : 0.00 : Estimated northing and easting = 4063341.02 : 572933.35 : AshtechGps::processRecord() - $GPGGA,205159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205159.39,3642.7507,N,-12211.0360,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205200.39,3642.7512,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205201.39,3642.7517,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,205202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205202.39,3642.7522,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205203.39,3642.7527,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,205204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205204.39,3642.7531,N,-12211.0362,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205205.39,3642.7535,N,-12211.0365,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205206.39,3642.7539,N,-12211.0369,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205207.39,3642.7542,N,-12211.0374,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205208.39,3642.7546,N,-12211.0379,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : TerrainNav update at nav time = 6400.001570 : TerrainNav update at dvl time = 6400.001570 : _navData-> (x,y) = (4063298.71, 572880.30) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6400.00 : 50.00 : Estimated East Bias at time = 6400.00 : 50.00 : Estimated Depth Bias at time = 6400.00 : 0.00 : Estimated northing and easting = 4063348.71 : 572930.30 : AshtechGps::processRecord() - $GPGGA,205209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205209.39,3642.7548,N,-12211.0385,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205210.39,3642.7549,N,-12211.0391,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,205211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205211.39,3642.7550,N,-12211.0397,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205212.39,3642.7550,N,-12211.0403,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205213.39,3642.7549,N,-12211.0410,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205214.39,3642.7548,N,-12211.0416,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,205215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205215.39,3642.7546,N,-12211.0421,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,205216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205216.39,3642.7543,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205217.39,3642.7540,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,205218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205218.39,3642.7536,N,-12211.0436,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 6410.000885 : TerrainNav update at dvl time = 6410.000885 : _navData-> (x,y) = (4063296.43, 572871.96) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6410.00 : 50.00 : Estimated East Bias at time = 6410.00 : 50.00 : Estimated Depth Bias at time = 6410.00 : 0.00 : Estimated northing and easting = 4063346.43 : 572921.96 : AshtechGps::processRecord() - $GPGGA,205219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205219.39,3642.7532,N,-12211.0440,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205220.39,3642.7527,N,-12211.0442,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205221.39,3642.7522,N,-12211.0444,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,205222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205222.39,3642.7517,N,-12211.0445,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205223.38,3642.7512,N,-12211.0446,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205224.38,3642.7507,N,-12211.0446,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,205225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205225.38,3642.7503,N,-12211.0445,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205226.38,3642.7498,N,-12211.0443,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205227.38,3642.7494,N,-12211.0440,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205228.38,3642.7490,N,-12211.0435,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 6420.000200 : TerrainNav update at dvl time = 6420.000200 : _navData-> (x,y) = (4063287.84, 572872.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6420.00 : 50.00 : Estimated East Bias at time = 6420.00 : 50.00 : Estimated Depth Bias at time = 6420.00 : 0.00 : Estimated northing and easting = 4063337.84 : 572922.67 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205229.38,3642.7486,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205230.38,3642.7483,N,-12211.0425,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205231.38,3642.7480,N,-12211.0419,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,205232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205232.38,3642.7479,N,-12211.0413,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205233.38,3642.7478,N,-12211.0407,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205234.38,3642.7478,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205235.38,3642.7478,N,-12211.0395,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,205236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205236.38,3642.7480,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205237.38,3642.7482,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205238.38,3642.7484,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 6429.999515 : TerrainNav update at dvl time = 6429.999515 : _navData-> (x,y) = (4063287.44, 572881.31) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6430.00 : 50.00 : Estimated East Bias at time = 6430.00 : 50.00 : Estimated Depth Bias at time = 6430.00 : 0.00 : Estimated northing and easting = 4063337.44 : 572931.31 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205239.38,3642.7487,N,-12211.0372,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205240.38,3642.7491,N,-12211.0368,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205241.38,3642.7495,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205242.38,3642.7499,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,205243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205243.38,3642.7503,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205244.38,3642.7509,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205245.38,3642.7514,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,205246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205246.38,3642.7519,N,-12211.0358,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,205247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205247.38,3642.7524,N,-12211.0360,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205248.38,3642.7529,N,-12211.0362,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 6439.998830 : TerrainNav update at dvl time = 6439.998830 : _navData-> (x,y) = (4063295.70, 572883.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 6440.00 : 50.00 : Estimated East Bias at time = 6440.00 : 50.00 : AshtechGps::processRecord() - $GPGGA,205249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 6440.00 : 0.00 : Estimated northing and easting = 4063345.70 : 572933.00 : NMEA Update: $GPGGA,205249.38,3642.7533,N,-12211.0366,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,205250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205250.38,3642.7536,N,-12211.0371,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205251.38,3642.7540,N,-12211.0377,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205252.38,3642.7543,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,205253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205253.38,3642.7544,N,-12211.0389,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,205254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205254.38,3642.7545,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205255.38,3642.7545,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205256.38,3642.7544,N,-12211.0406,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,205257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205257.38,3642.7542,N,-12211.0411,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205258.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205258.38,3642.7540,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 6449.998145 : TerrainNav update at dvl time = 6449.998145 : _navData-> (x,y) = (4063297.24, 572874.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6450.00 : 50.00 : Estimated East Bias at time = 6450.00 : 50.00 : Estimated Depth Bias at time = 6450.00 : 0.00 : Estimated northing and easting = 4063347.24 : 572924.58 : NMEA Update: $GPGGA,205259.38,3642.7538,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205300.38,3642.7535,N,-12211.0426,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,205301.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205301.38,3642.7531,N,-12211.0430,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205302.38,3642.7526,N,-12211.0433,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205303.38,3642.7521,N,-12211.0434,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205304.38,3642.7517,N,-12211.0435,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,205305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 6503.594473) Behavior ascend:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl::execute() -- (t = 6503.794459) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 6503.794459) Behavior setpoint:-1 has changed to state Active : NMEA Update: $GPGGA,205305.38,3642.7513,N,-12211.0438,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl::execute() -- (t = 6503.794459) Behavior missionTimer:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205306.38,3642.7507,N,-12211.0437,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,205307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205307.38,3642.7501,N,-12211.0432,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205308.38,3642.7496,N,-12211.0427,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 6459.997460 : TerrainNav update at dvl time = 6459.997460 : _navData-> (x,y) = (4063288.88, 572873.82) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 6460.00 : 50.00 : Estimated East Bias at time = 6460.00 : 50.00 : Estimated Depth Bias at time = 6460.00 : 0.00 : Estimated northing and easting = 4063338.88 : 572923.82 : NMEA Update: $GPGGA,205309.38,3642.7491,N,-12211.0423,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,205310.00,,,,,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,205310.38,3642.7487,N,-12211.0420,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,205311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205311.38,3642.7487,N,-12211.0417,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205312.38,3642.7484,N,-12211.0415,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205313.38,3642.7483,N,-12211.0412,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,205314.00,,,,,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,205314.38,3642.7482,N,-12211.0409,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,205315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205315.38,3642.7479,N,-12211.0405,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205316.38,3642.7477,N,-12211.0401,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205317.00,,,,,0,04,2.6,,M,,M,,*64 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205317.38,3642.7475,N,-12211.0398,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,205318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205318.38,3642.7473,N,-12211.0396,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 6469.996775 : TerrainNav update at dvl time = 6469.996775 : _navData-> (x,y) = (4063284.82, 572878.54) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6470.00 : 50.00 : Estimated East Bias at time = 6470.00 : 50.00 : Estimated Depth Bias at time = 6470.00 : 0.00 : Estimated northing and easting = 4063334.82 : 572928.54 : AshtechGps::processRecord() - $GPGGA,205319.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205319.38,3642.7469,N,-12211.0390,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205320.38,3642.7466,N,-12211.0384,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,205321.00,,,,,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,205321.38,3642.7466,N,-12211.0381,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,205322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205322.38,3642.7466,N,-12211.0382,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : 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,205323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205323.38,3642.7467,N,-12211.0383,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,205324.00,,,,,0,00,,,M,,M,,*4A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205324.38,3642.7466,N,-12211.0380,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,205325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205325.38,3642.7464,N,-12211.0375,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205326.38,3642.7462,N,-12211.0371,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205327.38,3642.7460,N,-12211.0369,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,205328.00,,,,,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,205328.38,3642.7459,N,-12211.0367,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : TerrainNav update at nav time = 6479.996090 : TerrainNav update at dvl time = 6479.996090 : _navData-> (x,y) = (4063282.38, 572882.80) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 6480.00 : 50.00 : Estimated East Bias at time = 6480.00 : 50.00 : Estimated Depth Bias at time = 6480.00 : 0.00 : Estimated northing and easting = 4063332.38 : 572932.80 : AshtechGps::processRecord() - $GPGGA,205329.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205329.38,3642.7457,N,-12211.0364,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205330.38,3642.7454,N,-12211.0361,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,205331.00,,,,,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,205331.38,3642.7453,N,-12211.0359,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,205332.00,,,,,0,02,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205332.38,3642.7452,N,-12211.0357,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205333.00,3642.76747,N,12210.99415,W,1,03,2.8,-0.77,M,-33.33,M,,*75 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : NMEA Update: $GPGGA,205333.38,3642.7452,N,-12211.0354,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205334.00,3642.76449,N,12210.99928,W,1,03,2.8,-0.77,M,-33.33,M,,*7C : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : NMEA Update: $GPGGA,205334.38,3642.7451,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,205335.00,,,,,0,04,245.4,,M,,M,,*67 : 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,205335.38,3642.7449,N,-12211.0352,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,205336.00,3642.76486,N,12210.99578,W,1,05,1.6,-1.54,M,-33.33,M,,*7F : NMEA Update: $GPGGA,205336.38,3642.7649,N,-12210.9958,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205337.00,3642.76532,N,12210.99653,W,1,05,1.6,-1.66,M,-33.33,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205337.38,3642.7653,N,-12210.9965,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : 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 GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : Supervisor::shutdown() - done() : DropWeight Destructor Executing. : TaskServer::signalHandler() for task FanIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : Fan Destructor Executing. : CameraDestructor Executing. : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : **** SharedData destructor for object GpsOutput_ShmemName **** //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000433E0. : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object fanOutput **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object m3dmgx1 **** : TaskServer::signalHandler() - _theTaskServer doesn't exist : **** SharedData destructor for object BenthosModemOutout **** : **** SharedData destructor for object navigationOutput **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object TailConeOutput_ShmemName **** : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() - _theTaskServer doesn't exist : TerrainAidDestructor Executing. : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object TerrainAidOutput **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F. : StepGetStat (2) failed to read chars, rcvd=4, want=8 : StepGetStat (2) 5d 5d 18 18 05 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****