Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::c: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg reateTask() - navigationServer S: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" upervisor::createTask() - layeredControlServer Supervisor::createTask() - dynamicControlServer : WorkSite::WorkSite -- Finished loading parameters : WorkSite::WorkSite -- Starting Depth is 0.000000 meters : 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 : 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 : 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 : 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 : 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 : WorkSite server: 0x2300c : 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 Supe: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts rvisor:: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts :cre: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts at: DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() e: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts Task() -: SerialDevice: done... dvlServer Su: SerialDevice: done... pervisor::createTask() - dropWeightServer Superv: SerialDevice: done... isor::createTask() - sonardyneServer Supervisor::createTask() - cameraServer : SerialDevice: done... Sup: SerialDevice: done... erv: SerialDevice: done... is: Crossbow.cc: In getSerialNumber() or::createTask() - echoSounderServer : Gps: initializing : SerialDevice: done... : SerialDevice: done... Supervisor::createTa: SerialDevice: done... sk() - benthosServer : SerialDevice: done... Supervisor::createTask(): SonardyneServer.cc was last compiled on Oct 13 2009, 21:23:08 - terrainAidServer : SerialDevice: done... : 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 : SerialDevice: done... : SonardyneDriver.cc was last compiled on Oct 13 2009, 21:23:04 : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : CameraDriver:: Before navigation IF. : Navigation: acommsIF = 0x6fa78 : ahrs if is Ahrs : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : SerialDevice: done... : BenthosModem::commandMode() - confirming... : Set verbose level : SerialDevice: done... : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1480.000000 m/s Beacon = V4,5 MRPL = 2 ms : EchoSounder -- configuration: Maximum Range = 100 m StartGain = 10 dB Absorption = 0.20 dB/m Pulse Length = 270 microseconds Minimum Range = 0.00 m Trigger Control= 0 Profile = 1 Delay = 0 milliseconds xz mounting an.= 90.00 degrees Head angle = -90.00 degrees Sector angle = 0.00 degrees Step size = 2.40 degrees Acoustic Freq = 675 kHz Ping period = 1.00 seconds : Scaled and shifted frequency = 100 : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : Set write delay : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : vehicleCfgName = mappingAUV_specs.cfg : dvlFileName = rdiDVL_specs.cfg : resonCfgName = resonSeabat8101_specs.cfg : samplePeriod = 5000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : SerialDevice: done... : 3 Modules found : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : Set remote response waiting time : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : AshtechGps::processRecord() - ,3648.87599,N,12158.44115,W,1,10,0.9,-1.63,M,-32.96,M,,*7B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,194406.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : Turn on doppler correction : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.00 > : TE00:00:00.60 > : 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 : TerrainAidDriver:: RollOffset is 0.00 : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04238 > : WP0001 > : WN25 > : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : header is >CS 7 : Dvl record header not found. Resynchronize. : AshtechGps::processRecord() - $GPGGA,194407.00,3648.87603,N,12158.44133,W,1,10,0.9,-1.72,M,-32.96,M,,*7E : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : NMEA Update: $GPGGA,194407.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,194408.00,3648.87624,N,12158.44130,W,1,10,0.9,-1.93,M,-32.96,M,,*78 : NMEA Update: $GPGGA,194408.21,000.0000,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,194409.00,3648.87624,N,12158.44117,W,1,10,0.9,-1.25,M,-32.96,M,,*71 : NMEA Update: $GPGGA,194409.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,194410.00,3648.87617,N,12158.44093,W,1,10,0.9,-1.25,M,-32.96,M,,*74 : NMEA Update: $GPGGA,194410.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,194411.00,3648.87599,N,12158.44061,W,1,10,0.9,-1.35,M,-32.96,M,,*7C : NMEA Update: $GPGGA,194411.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,194412.00,3648.87598,N,12158.44024,W,1,10,0.9,-1.44,M,-32.96,M,,*79 : NMEA Update: $GPGGA,194412.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : Parosci.cc -- Initial pressure = 1.103162 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Parosci.cc -- Parosci initial pressure period = 30.138430 : Parosci.cc -- Parosci initial temp period = 5.841700 : Parosci.cc -- Paroscientific configured. : AshtechGps::processRecord() - $GPGGA,194413.00,3648.87612,N,12158.44000,W,1,10,0.9,-1.76,M,-32.96,M,,*7E : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,194413.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,194414.00,3648.87618,N,12158.44006,W,1,10,0.9,-2.19,M,-32.96,M,,*7F : NMEA Update: $GPGGA,194414.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,194415.00,3648.87644,N,12158.44008,W,1,10,0.9,-2.40,M,-32.96,M,,*75 : NMEA Update: $GPGGA,194415.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,194416.00,3648.87638,N,12158.44034,W,1,10,0.9,-2.87,M,-32.96,M,,*79 : NMEA Update: $GPGGA,194416.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,194417.00,3648.87640,N,12158.44067,W,1,10,0.9,-2.66,M,-32.96,M,,*7E : NMEA Update: $GPGGA,194417.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,194418.00,3648.87660,N,12158.44076,W,1,10,0.9,-1.97,M,-32.96,M,,*7E : NMEA Update: $GPGGA,194418.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194419.00,3648.87650,N,12158.44074,W,1,10,0.9,-1.52,M,-32.96,M,,*77 : NMEA Update: $GPGGA,194419.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,194420.00,3648.87662,N,12158.44022,W,1,10,0.9,-1.03,M,-32.96,M,,*7B : NMEA Update: $GPGGA,194420.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,194421.00,3648.87655,N,12158.43964,W,1,10,0.9,-1.03,M,-32.96,M,,*72 : NMEA Update: $GPGGA,194421.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,194422.00,3648.87648,N,12158.43926,W,1,10,0.9,-1.39,M,-32.96,M,,*72 : NMEA Update: $GPGGA,194422.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194423.00,3648.87648,N,12158.43914,W,1,10,0.9,-1.86,M,-32.96,M,,*76 : NMEA Update: $GPGGA,194423.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,194424.00,3648.87662,N,12158.43885,W,1,10,0.9,-1.86,M,-32.96,M,,*70 : NMEA Update: $GPGGA,194424.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,194425.00,3648.87673,N,12158.43850,W,1,10,0.9,-2.16,M,-32.96,M,,*73 : NMEA Update: $GPGGA,194425.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194426.00,3648.87697,N,12158.43838,W,1,09,1.0,-2.50,M,-32.96,M,,*76 : NMEA Update: $GPGGA,194426.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,194427.00,3648.87707,N,12158.43867,W,1,09,1.0,-2.96,M,-32.96,M,,*7F : NMEA Update: $GPGGA,194427.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,194428.00,3648.87717,N,12158.43903,W,1,10,0.9,-2.77,M,-32.96,M,,*7D : Navigation: Server for aux sensor "Altimeter" not found : Navigation: Server for aux sensor "Velocimeter" not found : Navigation: The utm zone is 10 : Navigation: The lat/long in workSite.cfg, 36.812000, -121.968990 : Navigation: The lat/long in workSite.cfg, cvt'ed to UTM is 4074513.00, 591962.00 : PeriodicTask::run() (navigation) - sampleInterval=200, maxInterval=200 : NMEA Update: $GPGGA,194428.21,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : **** EventTriggers::add() - attaching proxy : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : LayeredControl::execute() -- (t = 0.000000) Behavior getgps:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - $GPGGA,194429.00,3648.87707,N,12158.43935,W,1,10,0.9,-3.14,M,-32.96,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,194429.21,3648.8772,N,-12158.4391,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194430.00,3648.87717,N,12158.43927,W,1,10,0.9,-2.51,M,-32.96,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : NMEA Update: $GPGGA,194430.21,3648.8771,N,-12158.4394,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,194431.00,3648.87704,N,12158.43914,W,1,10,0.9,-2.02,M,-32.96,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,194431.21,3648.8772,N,-12158.4393,W,1,03,00.5,080.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194432.00,3648.87697,N,12158.43879,W,1,10,0.9,-1.66,M,-32.96,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : NMEA Update: $GPGGA,194432.21,3648.8770,N,-12158.4391,W,1,03,00.5,081.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194433.00,3648.87697,N,12158.43842,W,1,10,0.9,-1.59,M,-32.96,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,194433.21,3648.8770,N,-12158.4387,W,1,03,00.5,081.8,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194434.00,3648.87680,N,12158.43814,W,1,10,0.9,-1.97,M,-32.96,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : NMEA Update: $GPGGA,194434.21,3648.8770,N,-12158.4383,W,1,03,00.5,081.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194435.00,3648.87680,N,12158.43798,W,1,10,0.9,-2.15,M,-32.96,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : NMEA Update: $GPGGA,194435.21,3648.8768,N,-12158.4381,W,1,03,00.5,081.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,194436.00,3648.87673,N,12158.43789,W,1,10,0.9,-2.27,M,-32.96,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,194436.21,3648.8768,N,-12158.4380,W,1,03,00.5,081.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194437.00,3648.87689,N,12158.43766,W,1,10,0.9,-2.62,M,-32.96,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.599411) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.599411) Behavior setpoint:-1 has changed to state Active : NMEA Update: $GPGGA,194437.21,3648.8767,N,-12158.4379,W,1,03,00.5,081.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194438.00,3648.87680,N,12158.43784,W,1,10,0.9,-3.07,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194438.21,3648.8769,N,-12158.4376,W,1,03,00.5,081.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194439.00,3648.87693,N,12158.43809,W,1,10,0.9,-3.33,M,-32.96,M,,*7A : NMEA Update: $GPGGA,194439.21,3648.8768,N,-12158.4379,W,1,03,00.5,081.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194440.00,3648.87684,N,12158.43851,W,1,10,0.9,-3.14,M,-32.96,M,,*7A : NMEA Update: $GPGGA,194440.21,3648.8769,N,-12158.4382,W,1,03,00.5,081.9,M,-99.9,M,,*45 : 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,194441.00,3648.87684,N,12158.43861,W,1,10,0.9,-2.33,M,-32.96,M,,*7C : NMEA Update: $GPGGA,194441.21,3648.8768,N,-12158.4386,W,1,03,00.5,080.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194442.00,3648.87687,N,12158.43827,W,1,10,0.9,-1.38,M,-32.96,M,,*76 : NMEA Update: $GPGGA,194442.21,3648.8768,N,-12158.4386,W,1,03,00.5,078.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194443.00,3648.87674,N,12158.43767,W,1,10,0.9,-1.18,M,-32.96,M,,*72 : NMEA Update: $GPGGA,194443.21,3648.8768,N,-12158.4382,W,1,03,00.5,086.6,M,-99.9,M,,*4f : 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,194444.00,3648.87675,N,12158.43693,W,1,10,0.9,-1.43,M,-32.96,M,,*70 : NMEA Update: $GPGGA,194444.21,3648.8767,N,-12158.4375,W,1,03,00.5,080.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194445.00,3648.87638,N,12158.43650,W,1,10,0.9,-1.46,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194445.21,3648.8767,N,-12158.4368,W,1,03,00.5,081.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194446.00,3648.87617,N,12158.43595,W,1,10,0.9,-2.08,M,-32.96,M,,*7F : NMEA Update: $GPGGA,194446.21,3648.8763,N,-12158.4364,W,1,03,00.5,084.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194447.00,3648.87574,N,12158.43582,W,1,10,0.9,-2.45,M,-32.96,M,,*77 : NMEA Update: $GPGGA,194447.21,3648.8761,N,-12158.4359,W,1,03,00.5,081.6,M,-99.9,M,,*43 : 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,194448.00,3648.87543,N,12158.43549,W,1,10,0.9,-2.24,M,-32.96,M,,*7C : NMEA Update: $GPGGA,194448.21,3648.8757,N,-12158.4358,W,1,03,00.5,081.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194449.00,3648.87513,N,12158.43504,W,1,10,0.9,-2.22,M,-32.96,M,,*77 : NMEA Update: $GPGGA,194449.21,3648.8753,N,-12158.4354,W,1,03,00.5,085.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194450.00,3648.87412,N,12158.43512,W,1,09,0.9,-5.16,M,-32.96,M,,*70 : NMEA Update: $GPGGA,194450.21,3648.8751,N,-12158.4349,W,1,03,00.5,079.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194451.00,,,,,0,00,,,M,,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194451.21,3648.8740,N,-12158.4351,W,1,03,00.5,081.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194452.00,,,,,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=1.50 : NMEA Update: $GPGGA,194452.21,3648.8736,N,-12158.4349,W,1,03,00.5,081.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194453.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194453.21,3648.8732,N,-12158.4348,W,1,03,00.5,079.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194454.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194454.21,3648.8727,N,-12158.4347,W,1,03,00.5,082.4,M,-99.9,M,,*4d : 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,194455.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194455.21,3648.8721,N,-12158.4344,W,1,03,00.5,082.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194456.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194456.21,3648.8715,N,-12158.4340,W,1,03,00.5,081.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 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,194457.21,3648.8710,N,-12158.4336,W,1,03,00.5,081.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194458.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194458.21,3648.8705,N,-12158.4332,W,1,03,00.5,081.4,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194459.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194459.21,3648.8699,N,-12158.4328,W,1,03,00.5,081.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194500.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194500.21,3648.8693,N,-12158.4323,W,1,03,00.5,081.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 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,194501.20,3648.8688,N,-12158.4317,W,1,03,00.5,081.5,M,-99.9,M,,*4e : 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,194502.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194502.20,3648.8682,N,-12158.4312,W,1,03,00.5,080.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194503.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194503.20,3648.8674,N,-12158.4311,W,1,03,00.5,080.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194504.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194504.20,3648.8667,N,-12158.4313,W,1,03,00.5,079.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194505.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194505.20,3648.8661,N,-12158.4316,W,1,03,00.5,079.7,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194506.00,,,,,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=1.50 : NMEA Update: $GPGGA,194506.20,3648.8656,N,-12158.4322,W,1,03,00.5,079.3,M,-99.9,M,,*4d : PeriodicTask::run() (terrainAidDriver) - sampleInterval=5000, maxInterval=5000 : AshtechGps::processRecord() - $GPGGA,194507.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194507.20,3648.8650,N,-12158.4328,W,1,03,00.5,080.2,M,-99.9,M,,*47 : LayeredControl::execute() -- (t = 38.797342) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 38.797342) Behavior descend:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194508.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194508.20,3648.8646,N,-12158.4336,W,1,03,00.5,079.4,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194509.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194509.20,3648.8642,N,-12158.4342,W,1,03,00.5,080.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194510.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194510.20,3648.8637,N,-12158.4345,W,1,03,00.5,080.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194511.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194511.20,3648.8633,N,-12158.4348,W,1,03,00.5,078.3,M,-99.9,M,,*45 : TerrainAidDriver:: _navTime0 = 1256067911.21 : TerrainAidDriver:: _dvlTime0 = 71109.84 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074773.09, 591519.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194512.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194512.20,3648.8631,N,-12158.4352,W,1,03,00.5,078.5,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194513.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194513.20,3648.8628,N,-12158.4357,W,1,03,00.5,077.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194514.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194514.20,3648.8627,N,-12158.4364,W,1,03,00.5,077.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : 23.34 : Estimated East Bias at time = 0.00 : 14.99 : Estimated Depth Bias at time = 0.00 : -0.07 : Estimated northing and easting = 4074796.43 : 591534.78 : AshtechGps::processRecord() - $GPGGA,194515.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194515.20,3648.8627,N,-12158.4372,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194516.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194516.20,3648.8626,N,-12158.4379,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 4.999658 : TerrainNav update at dvl time = 4.999658 : _navData-> (x,y) = (4074771.85, 591515.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194517.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194517.20,3648.8624,N,-12158.4384,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194518.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194518.20,3648.8622,N,-12158.4389,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : Estimated North Bias at time = 5.00 : 32.64 : Estimated East Bias at time = 5.00 : 19.26 : Estimated Depth Bias at time = 5.00 : -0.08 : Estimated northing and easting = 4074804.48 : 591534.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194519.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194519.20,3648.8622,N,-12158.4396,W,1,03,00.5,079.3,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194520.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194520.20,3648.8621,N,-12158.4403,W,1,03,00.5,079.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194521.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194521.20,3648.8621,N,-12158.4409,W,1,03,00.5,079.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 9.999315 : TerrainNav update at dvl time = 9.999315 : _navData-> (x,y) = (4074770.87, 591510.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194522.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194522.20,3648.8620,N,-12158.4416,W,1,03,00.5,076.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194523.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 10.00 : 34.78 : Estimated East Bias at time = 10.00 : 20.18 : Estimated Depth Bias at time = 10.00 : -0.13 : Estimated northing and easting = 4074805.65 : 591530.75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194523.20,3648.8620,N,-12158.4424,W,1,03,00.5,076.4,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194524.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194524.20,3648.8620,N,-12158.4433,W,1,03,00.5,076.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194525.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194525.20,3648.8620,N,-12158.4442,W,1,03,00.5,074.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194526.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194526.20,3648.8620,N,-12158.4450,W,1,03,00.5,074.5,M,-99.9,M,,*47 : TerrainNav update at nav time = 14.998972 : TerrainNav update at dvl time = 14.998972 : _navData-> (x,y) = (4074770.67, 591504.31) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194527.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194527.20,3648.8620,N,-12158.4458,W,1,03,00.5,073.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194528.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 15.00 : 34.88 : Estimated East Bias at time = 15.00 : 21.50 : Estimated Depth Bias at time = 15.00 : -0.10 : Estimated northing and easting = 4074805.55 : 591525.81 : NMEA Update: $GPGGA,194528.20,3648.8620,N,-12158.4467,W,1,03,00.5,073.5,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194529.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194529.20,3648.8621,N,-12158.4475,W,1,03,00.5,073.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194530.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194530.20,3648.8621,N,-12158.4483,W,1,03,00.5,073.1,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194531.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194531.20,3648.8621,N,-12158.4492,W,1,03,00.5,072.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 19.998630 : TerrainNav update at dvl time = 19.998630 : _navData-> (x,y) = (4074770.88, 591498.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194532.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194532.20,3648.8621,N,-12158.4500,W,1,03,00.5,072.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194533.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 20.00 : 35.34 : Estimated East Bias at time = 20.00 : 22.30 : Estimated Depth Bias at time = 20.00 : -0.11 : Estimated northing and easting = 4074806.22 : 591520.45 : NMEA Update: $GPGGA,194533.20,3648.8621,N,-12158.4507,W,1,03,00.5,072.0,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194534.00,,,,,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,194534.20,3648.8621,N,-12158.4514,W,1,03,00.5,070.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194535.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194535.20,3648.8622,N,-12158.4521,W,1,03,00.5,070.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194536.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194536.20,3648.8622,N,-12158.4529,W,1,03,00.5,069.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 24.998287 : TerrainNav update at dvl time = 24.998287 : _navData-> (x,y) = (4074771.02, 591492.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194537.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194537.20,3648.8623,N,-12158.4539,W,1,03,00.5,069.4,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194538.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 25.00 : 36.42 : Estimated East Bias at time = 25.00 : 26.15 : Estimated Depth Bias at time = 25.00 : -0.10 : Estimated northing and easting = 4074807.45 : 591518.69 : NMEA Update: $GPGGA,194538.20,3648.8622,N,-12158.4549,W,1,03,00.5,068.4,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194539.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194539.20,3648.8622,N,-12158.4559,W,1,03,00.5,067.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194540.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194540.20,3648.8622,N,-12158.4569,W,1,03,00.5,066.8,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194541.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194541.20,3648.8621,N,-12158.4578,W,1,03,00.5,066.4,M,-99.9,M,,*4e : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074770.75, 591485.35) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194542.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194542.20,3648.8621,N,-12158.4586,W,1,03,00.5,066.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 30.00 : 37.57 : Estimated East Bias at time = 30.00 : 30.00 : Estimated Depth Bias at time = 30.00 : -0.08 : Estimated northing and easting = 4074808.32 : 591515.35 : AshtechGps::processRecord() - $GPGGA,194543.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194543.20,3648.8621,N,-12158.4593,W,1,03,00.5,065.5,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194544.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194544.20,3648.8621,N,-12158.4601,W,1,03,00.5,065.5,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194545.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194545.20,3648.8620,N,-12158.4609,W,1,03,00.5,063.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194546.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194546.20,3648.8620,N,-12158.4618,W,1,03,00.5,063.5,M,-99.9,M,,*49 : TerrainNav update at nav time = 34.997602 : TerrainNav update at dvl time = 34.997602 : _navData-> (x,y) = (4074770.35, 591479.26) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194547.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194547.20,3648.8619,N,-12158.4627,W,1,03,00.5,062.3,M,-99.9,M,,*49 : Estimated North Bias at time = 35.00 : 40.38 : Estimated East Bias at time = 35.00 : 32.72 : Estimated Depth Bias at time = 35.00 : -0.03 : Estimated northing and easting = 4074810.73 : 591511.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194548.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194548.20,3648.8619,N,-12158.4637,W,1,03,00.5,060.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194549.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194549.20,3648.8618,N,-12158.4646,W,1,03,00.5,061.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194550.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194550.20,3648.8618,N,-12158.4654,W,1,03,00.5,060.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194551.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194551.20,3648.8618,N,-12158.4662,W,1,03,00.5,060.3,M,-99.9,M,,*4c : TerrainNav update at nav time = 39.997260 : TerrainNav update at dvl time = 39.997260 : _navData-> (x,y) = (4074769.96, 591472.81) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194552.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194552.20,3648.8617,N,-12158.4671,W,1,03,00.5,059.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194553.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194553.20,3648.8616,N,-12158.4679,W,1,03,00.5,059.3,M,-99.9,M,,*40 : Estimated North Bias at time = 40.00 : 43.95 : Estimated East Bias at time = 40.00 : 41.49 : Estimated Depth Bias at time = 40.00 : -0.05 : Estimated northing and easting = 4074813.91 : 591514.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194554.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194554.20,3648.8615,N,-12158.4688,W,1,03,00.5,057.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194555.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194555.20,3648.8614,N,-12158.4698,W,1,03,00.5,058.7,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Descend::execute() - Descend terminating on depth 27.065964 > 27.000000 at time 87.194027 : LayeredControl::execute() -- (t = 87.194027) Behavior descend:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 87.19 (wplog) The current location (N,E) = 4074769.1 , 591467.3 (wplog) The next waypoint = 4074786.1 , 591284.1 (wplog) The bearing to the next w.p. is 275.3 Degrees. : LayeredControl::execute() -- (t = 87.194027) Behavior waypoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,194556.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194556.20,3648.8613,N,-12158.4706,W,1,03,00.5,058.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : TerrainNav update at nav time = 44.996917 : TerrainNav update at dvl time = 44.996917 : _navData-> (x,y) = (4074769.01, 591466.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194557.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194557.20,3648.8612,N,-12158.4715,W,1,03,00.5,057.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194558.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194558.20,3648.8612,N,-12158.4724,W,1,03,00.5,058.1,M,-99.9,M,,*45 : Estimated North Bias at time = 45.00 : 45.50 : Estimated East Bias at time = 45.00 : 48.63 : Estimated Depth Bias at time = 45.00 : -0.05 : Estimated northing and easting = 4074814.50 : 591514.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194559.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194559.20,3648.8612,N,-12158.4733,W,1,03,00.5,057.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194600.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194600.20,3648.8612,N,-12158.4743,W,1,03,00.5,056.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194601.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194601.20,3648.8613,N,-12158.4753,W,1,03,00.5,055.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 49.996575 : TerrainNav update at dvl time = 49.996575 : _navData-> (x,y) = (4074769.00, 591459.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194602.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194602.20,3648.8614,N,-12158.4764,W,1,03,00.5,055.6,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 50.00 : 45.13 : Estimated East Bias at time = 50.00 : 49.64 : Estimated Depth Bias at time = 50.00 : 0.06 : Estimated northing and easting = 4074814.12 : 591508.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194603.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194603.20,3648.8616,N,-12158.4775,W,1,03,00.5,054.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194604.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194604.20,3648.8617,N,-12158.4785,W,1,03,00.5,055.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194605.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194605.20,3648.8619,N,-12158.4795,W,1,03,00.5,055.6,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194606.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194606.20,3648.8620,N,-12158.4805,W,1,03,00.5,055.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : TerrainNav update at nav time = 54.996233 : TerrainNav update at dvl time = 54.996233 : _navData-> (x,y) = (4074770.30, 591451.49) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194607.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194607.20,3648.8622,N,-12158.4815,W,1,03,00.5,056.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 55.00 : 45.83 : Estimated East Bias at time = 55.00 : 48.92 : Estimated Depth Bias at time = 55.00 : -0.12 : Estimated northing and easting = 4074816.13 : 591500.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194608.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194608.20,3648.8623,N,-12158.4824,W,1,03,00.5,056.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194609.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194609.20,3648.8624,N,-12158.4834,W,1,03,00.5,056.3,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194610.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194610.20,3648.8625,N,-12158.4845,W,1,03,00.5,056.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194611.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194611.20,3648.8626,N,-12158.4856,W,1,03,00.5,056.1,M,-99.9,M,,*48 : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4074771.24, 591443.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194612.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194612.20,3648.8627,N,-12158.4868,W,1,03,00.5,056.3,M,-99.9,M,,*45 : Estimated North Bias at time = 60.00 : 45.92 : Estimated East Bias at time = 60.00 : 48.53 : Estimated Depth Bias at time = 60.00 : -0.15 : Estimated northing and easting = 4074817.17 : 591492.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194613.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194613.20,3648.8629,N,-12158.4879,W,1,03,00.5,056.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194614.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194614.20,3648.8630,N,-12158.4891,W,1,03,00.5,056.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194615.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194615.20,3648.8631,N,-12158.4902,W,1,03,00.5,056.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194616.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194616.20,3648.8632,N,-12158.4912,W,1,03,00.5,056.4,M,-99.9,M,,*4e : TerrainNav update at nav time = 64.995548 : TerrainNav update at dvl time = 64.995548 : _navData-> (x,y) = (4074772.29, 591435.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194617.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194617.20,3648.8633,N,-12158.4922,W,1,03,00.5,056.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 65.00 : 46.36 : Estimated East Bias at time = 65.00 : 47.53 : Estimated Depth Bias at time = 65.00 : -0.28 : Estimated northing and easting = 4074818.65 : 591483.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194618.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194618.20,3648.8634,N,-12158.4932,W,1,03,00.5,056.2,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194619.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194619.20,3648.8635,N,-12158.4943,W,1,03,00.5,056.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194620.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194620.20,3648.8636,N,-12158.4954,W,1,03,00.5,056.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194621.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194621.20,3648.8637,N,-12158.4965,W,1,03,00.5,056.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 69.995205 : TerrainNav update at dvl time = 69.995205 : _navData-> (x,y) = (4074773.17, 591427.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194622.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194622.20,3648.8639,N,-12158.4977,W,1,03,00.5,055.9,M,-99.9,M,,*4f : Estimated North Bias at time = 70.00 : 46.49 : Estimated East Bias at time = 70.00 : 48.79 : Estimated Depth Bias at time = 70.00 : -0.36 : Estimated northing and easting = 4074819.66 : 591476.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194623.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194623.20,3648.8640,N,-12158.4989,W,1,03,00.5,055.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194624.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194624.20,3648.8641,N,-12158.5001,W,1,03,00.5,055.7,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194625.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194625.20,3648.8643,N,-12158.5012,W,1,03,00.5,055.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194626.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194626.20,3648.8644,N,-12158.5022,W,1,03,00.5,056.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 74.994863 : TerrainNav update at dvl time = 74.994863 : _navData-> (x,y) = (4074774.25, 591419.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,194627.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194627.20,3648.8645,N,-12158.5032,W,1,03,00.5,056.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 74.99 : 46.63 : Estimated East Bias at time = 74.99 : 51.55 : Estimated Depth Bias at time = 74.99 : -0.42 : Estimated northing and easting = 4074820.88 : 591470.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194628.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194628.20,3648.8645,N,-12158.5043,W,1,03,00.5,055.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,194629.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194629.20,3648.8646,N,-12158.5054,W,1,03,00.5,055.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194630.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194630.20,3648.8646,N,-12158.5066,W,1,03,00.5,055.6,M,-99.9,M,,*43 : NMEA Update: $GPGGA,194631.01,3648.8647,N,-12158.5078,W,1,03,00.5,055.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194631.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : TerrainNav update at nav time = 79.994520 : TerrainNav update at dvl time = 79.994520 : _navData-> (x,y) = (4074774.65, 591410.70) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194632.01,3648.8647,N,-12158.5090,W,1,03,00.5,056.0,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=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 79.99 : 47.05 : Estimated East Bias at time = 79.99 : 55.65 : Estimated Depth Bias at time = 79.99 : -0.51 : Estimated northing and easting = 4074821.70 : 591466.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194633.01,3648.8648,N,-12158.5102,W,1,03,00.5,055.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194633.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194634.01,3648.8649,N,-12158.5113,W,1,03,00.5,056.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194634.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194635.01,3648.8650,N,-12158.5124,W,1,03,00.5,056.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194635.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194636.01,3648.8651,N,-12158.5134,W,1,03,00.5,056.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194636.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 84.994178 : TerrainNav update at dvl time = 84.994178 : _navData-> (x,y) = (4074775.36, 591402.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194637.01,3648.8652,N,-12158.5145,W,1,03,00.5,057.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194637.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 84.99 : 47.85 : Estimated East Bias at time = 84.99 : 58.56 : Estimated Depth Bias at time = 84.99 : -0.68 : Estimated northing and easting = 4074823.20 : 591460.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194638.01,3648.8652,N,-12158.5156,W,1,03,00.5,056.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194638.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194639.01,3648.8653,N,-12158.5167,W,1,03,00.5,056.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194639.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194640.01,3648.8654,N,-12158.5178,W,1,03,00.5,056.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194640.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194641.01,3648.8655,N,-12158.5190,W,1,03,00.5,056.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194641.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4074776.14, 591394.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194642.01,3648.8657,N,-12158.5201,W,1,03,00.5,056.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194642.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 89.99 : 48.06 : Estimated East Bias at time = 89.99 : 63.16 : Estimated Depth Bias at time = 89.99 : -0.75 : Estimated northing and easting = 4074824.20 : 591457.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194643.01,3648.8658,N,-12158.5213,W,1,03,00.5,057.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194643.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194644.01,3648.8659,N,-12158.5225,W,1,03,00.5,056.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194644.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194645.01,3648.8659,N,-12158.5237,W,1,03,00.5,056.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194645.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194646.01,3648.8660,N,-12158.5249,W,1,03,00.5,057.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194646.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 94.993493 : TerrainNav update at dvl time = 94.993493 : _navData-> (x,y) = (4074776.81, 591385.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194647.01,3648.8660,N,-12158.5260,W,1,03,00.5,057.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194647.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 94.99 : 48.35 : Estimated East Bias at time = 94.99 : 66.83 : Estimated Depth Bias at time = 94.99 : -0.77 : Estimated northing and easting = 4074825.16 : 591452.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194648.01,3648.8660,N,-12158.5272,W,1,03,00.5,057.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194648.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194649.01,3648.8661,N,-12158.5283,W,1,03,00.5,057.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194649.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194650.01,3648.8662,N,-12158.5294,W,1,03,00.5,057.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194650.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194651.01,3648.8663,N,-12158.5305,W,1,03,00.5,057.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194651.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : TerrainNav update at nav time = 99.993150 : TerrainNav update at dvl time = 99.993150 : _navData-> (x,y) = (4074777.33, 591377.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194652.01,3648.8664,N,-12158.5316,W,1,03,00.5,056.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194652.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 99.99 : 49.14 : Estimated East Bias at time = 99.99 : 67.26 : Estimated Depth Bias at time = 99.99 : -0.90 : Estimated northing and easting = 4074826.47 : 591444.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194653.01,3648.8665,N,-12158.5327,W,1,03,00.5,057.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194653.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194654.01,3648.8666,N,-12158.5339,W,1,03,00.5,057.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194654.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194655.01,3648.8667,N,-12158.5349,W,1,03,00.5,057.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194655.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194656.01,3648.8668,N,-12158.5361,W,1,03,00.5,057.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194656.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 105.002807 : TerrainNav update at dvl time = 105.002807 : _navData-> (x,y) = (4074778.31, 591368.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194657.01,3648.8669,N,-12158.5372,W,1,03,00.5,057.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194657.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 105.00 : 49.30 : Estimated East Bias at time = 105.00 : 66.78 : Estimated Depth Bias at time = 105.00 : -0.93 : Estimated northing and easting = 4074827.62 : 591435.11 : NMEA Update: $GPGGA,194658.01,3648.8670,N,-12158.5384,W,1,03,00.5,057.9,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194658.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194659.01,3648.8671,N,-12158.5395,W,1,03,00.5,058.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194659.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194700.01,3648.8672,N,-12158.5406,W,1,03,00.5,058.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194700.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194701.01,3648.8673,N,-12158.5417,W,1,03,00.5,058.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194701.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 110.002464 : TerrainNav update at dvl time = 110.002464 : _navData-> (x,y) = (4074779.00, 591360.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194702.01,3648.8673,N,-12158.5428,W,1,03,00.5,057.6,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=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 110.00 : 49.42 : Estimated East Bias at time = 110.00 : 66.83 : Estimated Depth Bias at time = 110.00 : -0.94 : Estimated northing and easting = 4074828.42 : 591426.90 : NMEA Update: $GPGGA,194703.01,3648.8674,N,-12158.5440,W,1,03,00.5,057.4,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194703.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194704.01,3648.8675,N,-12158.5452,W,1,03,00.5,057.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194704.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194705.01,3648.8675,N,-12158.5464,W,1,03,00.5,057.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194705.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194706.01,3648.8676,N,-12158.5476,W,1,03,00.5,058.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194706.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : TerrainNav update at nav time = 115.002122 : TerrainNav update at dvl time = 115.002122 : _navData-> (x,y) = (4074779.58, 591351.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194707.01,3648.8677,N,-12158.5488,W,1,03,00.5,058.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194707.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 115.00 : 49.48 : Estimated East Bias at time = 115.00 : 67.08 : Estimated Depth Bias at time = 115.00 : -0.95 : Estimated northing and easting = 4074829.06 : 591418.23 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194708.01,3648.8679,N,-12158.5499,W,1,03,00.5,058.8,M,-99.9,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194708.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194709.01,3648.8680,N,-12158.5510,W,1,03,00.5,059.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194709.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194710.01,3648.8682,N,-12158.5521,W,1,03,00.5,058.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194710.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194711.01,3648.8683,N,-12158.5531,W,1,03,00.5,059.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194711.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4074780.83, 591343.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194712.01,3648.8685,N,-12158.5542,W,1,03,00.5,059.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194712.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 120.00 : 49.54 : Estimated East Bias at time = 120.00 : 65.32 : Estimated Depth Bias at time = 120.00 : -0.96 : Estimated northing and easting = 4074830.37 : 591408.33 : NMEA Update: $GPGGA,194713.01,3648.8686,N,-12158.5553,W,1,03,00.5,058.8,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194713.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194714.01,3648.8687,N,-12158.5564,W,1,03,00.5,059.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194714.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194715.01,3648.8687,N,-12158.5576,W,1,03,00.5,059.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194715.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194716.01,3648.8688,N,-12158.5587,W,1,03,00.5,060.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194716.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : TerrainNav update at nav time = 125.001437 : TerrainNav update at dvl time = 125.001437 : _navData-> (x,y) = (4074781.56, 591334.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194717.01,3648.8689,N,-12158.5599,W,1,03,00.5,058.4,M,-99.9,M,,*4d : 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=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Estimated North Bias at time = 125.00 : 49.55 : Estimated East Bias at time = 125.00 : 64.45 : Estimated Depth Bias at time = 125.00 : -0.97 : Estimated northing and easting = 4074831.11 : 591399.07 : NMEA Update: $GPGGA,194718.01,3648.8690,N,-12158.5610,W,1,03,00.5,059.5,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194718.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194719.01,3648.8690,N,-12158.5622,W,1,03,00.5,059.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194719.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194720.01,3648.8691,N,-12158.5634,W,1,03,00.5,059.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194720.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194721.01,3648.8692,N,-12158.5646,W,1,03,00.5,059.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194721.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 130.001094 : TerrainNav update at dvl time = 130.001094 : _navData-> (x,y) = (4074782.23, 591325.87) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194722.01,3648.8693,N,-12158.5658,W,1,03,00.5,059.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194722.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194723.01,3648.8694,N,-12158.5669,W,1,03,00.5,060.4,M,-99.9,M,,*41 : Estimated North Bias at time = 130.00 : 49.55 : Estimated East Bias at time = 130.00 : 61.30 : Estimated Depth Bias at time = 130.00 : -0.97 : Estimated northing and easting = 4074831.78 : 591387.17 : AshtechGps::processRecord() - $GPGGA,194723.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194724.01,3648.8695,N,-12158.5680,W,1,03,00.5,059.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194724.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194725.01,3648.8696,N,-12158.5690,W,1,03,00.5,060.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194725.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194726.01,3648.8696,N,-12158.5701,W,1,03,00.5,060.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194726.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : TerrainNav update at nav time = 135.000752 : TerrainNav update at dvl time = 135.000752 : _navData-> (x,y) = (4074782.97, 591317.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194727.00,3648.8698,N,-12158.5711,W,1,03,00.5,059.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194727.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194728.00,3648.8699,N,-12158.5721,W,1,03,00.5,060.7,M,-99.9,M,,*48 : Estimated North Bias at time = 135.00 : 49.50 : Estimated East Bias at time = 135.00 : 57.74 : Estimated Depth Bias at time = 135.00 : -0.97 : AshtechGps::processRecord() - $GPGGA,194728.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4074832.47 : 591375.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194729.00,3648.8700,N,-12158.5732,W,1,03,00.5,060.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194729.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194730.00,3648.8701,N,-12158.5743,W,1,03,00.5,059.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194730.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194731.00,3648.8702,N,-12158.5755,W,1,03,00.5,060.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194731.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 140.000409 : TerrainNav update at dvl time = 140.000409 : _navData-> (x,y) = (4074783.89, 591309.72) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194732.00,3648.8703,N,-12158.5766,W,1,03,00.5,059.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194732.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 140.00 : 49.47 : Estimated East Bias at time = 140.00 : 54.57 : Estimated Depth Bias at time = 140.00 : -0.98 : Estimated northing and easting = 4074833.37 : 591364.29 : NMEA Update: $GPGGA,194733.00,3648.8704,N,-12158.5778,W,1,03,00.5,061.2,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194733.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194734.00,3648.8704,N,-12158.5789,W,1,03,00.5,060.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194734.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194735.00,3648.8705,N,-12158.5800,W,1,03,00.5,061.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194735.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194736.00,3648.8705,N,-12158.5811,W,1,03,00.5,060.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194736.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 145.000067 : TerrainNav update at dvl time = 145.000067 : _navData-> (x,y) = (4074784.34, 591301.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194737.00,3648.8706,N,-12158.5823,W,1,03,00.5,061.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194737.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194738.00,3648.8706,N,-12158.5834,W,1,03,00.5,061.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194738.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 145.00 : 49.47 : Estimated East Bias at time = 145.00 : 48.47 : Estimated Depth Bias at time = 145.00 : -0.98 : Estimated northing and easting = 4074833.82 : 591349.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194739.00,3648.8707,N,-12158.5846,W,1,03,00.5,061.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194739.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194740.00,3648.8708,N,-12158.5856,W,1,03,00.5,062.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194740.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194741.00,3648.8709,N,-12158.5867,W,1,03,00.5,062.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194741.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4074785.01, 591293.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194742.00,3648.8710,N,-12158.5877,W,1,03,00.5,062.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194742.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194743.00,3648.8711,N,-12158.5887,W,1,03,00.5,063.0,M,-99.9,M,,*43 : Estimated North Bias at time = 150.00 : 49.59 : Estimated East Bias at time = 150.00 : 34.47 : Estimated Depth Bias at time = 150.00 : -0.97 : Estimated northing and easting = 4074834.60 : 591327.63 : AshtechGps::processRecord() - $GPGGA,194743.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194744.00,3648.8712,N,-12158.5897,W,1,03,00.5,062.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194744.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194745.00,3648.8714,N,-12158.5908,W,1,03,00.5,062.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194745.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194746.00,3648.8715,N,-12158.5919,W,1,03,00.5,063.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194746.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 154.999382 : TerrainNav update at dvl time = 154.999382 : _navData-> (x,y) = (4074786.09, 591285.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194747.00,3648.8717,N,-12158.5931,W,1,03,00.5,063.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194747.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=4.80 speedMode=1 speed=1.50 : Waypoint has set the state to finished. : Waypoint (4074786.1, 591284.1), reached at t = 198.80 (wplog) : Vehicle Position is error is (-0.1, 0.3) : LayeredControl::execute() -- (t = 198.796382) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 198.80 (wplog) The current location (N,E) = 4074786.3 , 591283.8 (wplog) The next waypoint = 4074718.3 , 591221.5 (wplog) The bearing to the next w.p. is 222.5 Degrees. : LayeredControl::execute() -- (t = 198.796382) Behavior waypoint:-1 has changed to state Active : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194748.00,3648.8718,N,-12158.5942,W,1,03,00.5,062.7,M,-99.9,M,,*4f : Estimated North Bias at time = 155.00 : 49.70 : Estimated East Bias at time = 155.00 : 24.46 : Estimated Depth Bias at time = 155.00 : -0.95 : Estimated northing and easting = 4074835.79 : 591309.68 : AshtechGps::processRecord() - $GPGGA,194748.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194749.00,3648.8719,N,-12158.5954,W,1,03,00.5,063.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194749.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194750.00,3648.8719,N,-12158.5964,W,1,03,00.5,063.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194750.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194751.00,3648.8719,N,-12158.5975,W,1,03,00.5,064.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194751.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 159.999039 : TerrainNav update at dvl time = 159.999039 : _navData-> (x,y) = (4074786.50, 591277.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194752.00,3648.8718,N,-12158.5985,W,1,03,00.5,063.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194752.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194753.00,3648.8716,N,-12158.5994,W,1,03,00.5,064.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194753.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 160.00 : 49.71 : Estimated East Bias at time = 160.00 : 21.18 : Estimated Depth Bias at time = 160.00 : -0.95 : Estimated northing and easting = 4074836.21 : 591298.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194754.00,3648.8713,N,-12158.6003,W,1,03,00.5,066.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194754.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194755.00,3648.8709,N,-12158.6011,W,1,03,00.5,066.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194755.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194756.00,3648.8705,N,-12158.6019,W,1,03,00.5,067.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194756.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 164.998697 : TerrainNav update at dvl time = 164.998697 : _navData-> (x,y) = (4074783.52, 591270.94) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194757.00,3648.8701,N,-12158.6025,W,1,03,00.5,067.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194757.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194758.00,3648.8696,N,-12158.6029,W,1,03,00.5,067.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194758.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 165.00 : 50.03 : Estimated East Bias at time = 165.00 : 16.90 : Estimated Depth Bias at time = 165.00 : -0.92 : Estimated northing and easting = 4074833.55 : 591287.84 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194759.00,3648.8690,N,-12158.6032,W,1,03,00.5,066.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194759.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194800.00,3648.8684,N,-12158.6035,W,1,03,00.5,066.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194800.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194801.00,3648.8678,N,-12158.6037,W,1,03,00.5,065.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194801.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 169.998354 : TerrainNav update at dvl time = 169.998354 : _navData-> (x,y) = (4074778.17, 591268.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194802.00,3648.8672,N,-12158.6039,W,1,03,00.5,064.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194802.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194803.00,3648.8665,N,-12158.6042,W,1,03,00.5,062.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194803.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 170.00 : 49.82 : Estimated East Bias at time = 170.00 : 15.27 : Estimated Depth Bias at time = 170.00 : -0.92 : Estimated northing and easting = 4074827.99 : 591283.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194804.00,3648.8659,N,-12158.6043,W,1,03,00.5,063.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194804.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194805.00,3648.8653,N,-12158.6046,W,1,03,00.5,061.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194805.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194806.00,3648.8647,N,-12158.6047,W,1,03,00.5,061.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194806.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 174.998012 : TerrainNav update at dvl time = 174.998012 : _navData-> (x,y) = (4074772.47, 591267.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194807.00,3648.8641,N,-12158.6049,W,1,03,00.5,059.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194807.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 175.00 : 49.66 : Estimated East Bias at time = 175.00 : 14.85 : Estimated Depth Bias at time = 175.00 : -0.92 : Estimated northing and easting = 4074822.13 : 591282.00 : NMEA Update: $GPGGA,194808.00,3648.8634,N,-12158.6051,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,194808.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194809.00,3648.8627,N,-12158.6053,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,194809.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194810.00,3648.8621,N,-12158.6056,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,194810.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194811.00,3648.8614,N,-12158.6058,W,1,03,00.5,057.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194811.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4074766.37, 591265.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194812.00,3648.8608,N,-12158.6061,W,1,03,00.5,058.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194812.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194813.00,3648.8601,N,-12158.6065,W,1,03,00.5,057.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194813.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 180.00 : 49.46 : Estimated East Bias at time = 180.00 : 14.11 : Estimated Depth Bias at time = 180.00 : -0.92 : Estimated northing and easting = 4074815.83 : 591279.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194814.00,3648.8595,N,-12158.6068,W,1,03,00.5,057.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194814.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194815.00,3648.8589,N,-12158.6072,W,1,03,00.5,057.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194815.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194816.00,3648.8583,N,-12158.6076,W,1,03,00.5,056.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194816.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 184.997327 : TerrainNav update at dvl time = 184.997327 : _navData-> (x,y) = (4074760.49, 591262.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194817.00,3648.8576,N,-12158.6079,W,1,03,00.5,055.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194817.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194818.00,3648.8570,N,-12158.6083,W,1,03,00.5,055.2,M,-99.9,M,,*4f : Estimated North Bias at time = 185.00 : 49.29 : Estimated East Bias at time = 185.00 : 13.52 : Estimated Depth Bias at time = 185.00 : -0.92 : Estimated northing and easting = 4074809.78 : 591276.47 : AshtechGps::processRecord() - $GPGGA,194818.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194819.00,3648.8564,N,-12158.6088,W,1,03,00.5,056.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194819.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194820.00,3648.8557,N,-12158.6092,W,1,03,00.5,055.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194820.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194821.00,3648.8551,N,-12158.6097,W,1,03,00.5,054.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194821.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 189.996984 : TerrainNav update at dvl time = 189.996984 : _navData-> (x,y) = (4074754.81, 591259.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194822.00,3648.8546,N,-12158.6103,W,1,03,00.5,054.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194822.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194823.00,3648.8541,N,-12158.6109,W,1,03,00.5,054.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194823.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 190.00 : 49.29 : Estimated East Bias at time = 190.00 : 12.79 : Estimated Depth Bias at time = 190.00 : -0.92 : Estimated northing and easting = 4074804.10 : 591272.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194824.00,3648.8536,N,-12158.6116,W,1,03,00.5,053.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194824.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194825.00,3648.8531,N,-12158.6122,W,1,03,00.5,054.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194825.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194826.00,3648.8526,N,-12158.6128,W,1,03,00.5,052.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194826.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 194.996642 : TerrainNav update at dvl time = 194.996642 : _navData-> (x,y) = (4074750.01, 591254.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194827.00,3648.8520,N,-12158.6135,W,1,03,00.5,054.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194827.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194828.00,3648.8514,N,-12158.6141,W,1,03,00.5,053.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194828.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 195.00 : 49.25 : Estimated East Bias at time = 195.00 : 11.06 : Estimated Depth Bias at time = 195.00 : -0.92 : Estimated northing and easting = 4074799.26 : 591266.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194829.00,3648.8510,N,-12158.6148,W,1,03,00.5,053.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194829.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194830.00,3648.8505,N,-12158.6155,W,1,03,00.5,052.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194830.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194831.00,3648.8500,N,-12158.6162,W,1,03,00.5,052.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194831.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 199.996299 : TerrainNav update at dvl time = 199.996299 : _navData-> (x,y) = (4074745.34, 591249.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194832.00,3648.8496,N,-12158.6170,W,1,03,00.5,051.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194832.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194833.00,3648.8492,N,-12158.6177,W,1,03,00.5,051.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194833.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 200.00 : 49.02 : Estimated East Bias at time = 200.00 : 9.31 : Estimated Depth Bias at time = 200.00 : -0.92 : Estimated northing and easting = 4074794.36 : 591259.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194834.00,3648.8488,N,-12158.6184,W,1,03,00.5,051.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194834.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194835.00,3648.8483,N,-12158.6191,W,1,03,00.5,051.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194835.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194836.00,3648.8479,N,-12158.6197,W,1,03,00.5,052.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194836.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 204.995957 : TerrainNav update at dvl time = 204.995957 : _navData-> (x,y) = (4074741.37, 591244.82) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194837.00,3648.8475,N,-12158.6204,W,1,03,00.5,052.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194837.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194838.00,3648.8470,N,-12158.6210,W,1,03,00.5,052.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194838.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 205.00 : 50.10 : Estimated East Bias at time = 205.00 : 4.43 : Estimated Depth Bias at time = 205.00 : -0.92 : Estimated northing and easting = 4074791.48 : 591249.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194839.00,3648.8465,N,-12158.6217,W,1,03,00.5,051.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194839.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194840.00,3648.8460,N,-12158.6224,W,1,03,00.5,051.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194840.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194841.00,3648.8455,N,-12158.6231,W,1,03,00.5,051.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194841.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 209.995614 : TerrainNav update at dvl time = 209.995614 : _navData-> (x,y) = (4074736.91, 591239.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194842.00,3648.8451,N,-12158.6239,W,1,03,00.5,051.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194842.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194843.00,3648.8446,N,-12158.6247,W,1,03,00.5,051.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194843.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 210.00 : 51.33 : Estimated East Bias at time = 210.00 : 1.15 : Estimated Depth Bias at time = 210.00 : -0.92 : Estimated northing and easting = 4074788.24 : 591240.82 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194844.00,3648.8441,N,-12158.6254,W,1,03,00.5,051.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194844.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194845.00,3648.8436,N,-12158.6261,W,1,03,00.5,052.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194845.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194846.00,3648.8431,N,-12158.6267,W,1,03,00.5,052.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194846.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 214.995272 : TerrainNav update at dvl time = 214.995272 : _navData-> (x,y) = (4074732.22, 591234.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194847.00,3648.8425,N,-12158.6273,W,1,03,00.5,053.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194847.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194848.00,3648.8420,N,-12158.6279,W,1,03,00.5,053.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194848.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 215.00 : 46.80 : Estimated East Bias at time = 215.00 : -1.92 : Estimated Depth Bias at time = 215.00 : -0.91 : Estimated northing and easting = 4074779.02 : 591232.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194849.00,3648.8414,N,-12158.6285,W,1,03,00.5,055.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194849.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194850.00,3648.8409,N,-12158.6292,W,1,03,00.5,055.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194850.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194851.00,3648.8403,N,-12158.6298,W,1,03,00.5,056.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194851.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 219.994929 : TerrainNav update at dvl time = 219.994929 : _navData-> (x,y) = (4074727.02, 591229.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194852.00,3648.8397,N,-12158.6305,W,1,03,00.5,057.0,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194852.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194853.00,3648.8392,N,-12158.6312,W,1,03,00.5,057.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194853.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 219.99 : 48.64 : Estimated East Bias at time = 219.99 : -4.01 : Estimated Depth Bias at time = 219.99 : -0.89 : Estimated northing and easting = 4074775.66 : 591225.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194854.00,3648.8386,N,-12158.6319,W,1,03,00.5,058.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194854.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194855.00,3648.8380,N,-12158.6326,W,1,03,00.5,058.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,194855.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194856.00,3648.8374,N,-12158.6332,W,1,03,00.5,059.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194856.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 224.994587 : TerrainNav update at dvl time = 224.994587 : _navData-> (x,y) = (4074721.51, 591224.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194857.01,3648.8367,N,-12158.6340,W,1,03,00.5,060.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194857.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194858.01,3648.8360,N,-12158.6347,W,1,03,00.5,060.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194858.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 224.99 : 48.36 : Estimated East Bias at time = 224.99 : -5.32 : Estimated Depth Bias at time = 224.99 : -0.89 : Estimated northing and easting = 4074769.87 : 591219.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=55.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194859.01,3648.8354,N,-12158.6354,W,1,03,00.5,062.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194859.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Waypoint has set the state to finished. : Waypoint (4074718.3, 591221.5), reached at t = 271.20 (wplog) : Vehicle Position is error is (0.4, -0.2) : LayeredControl::execute() -- (t = 271.201421) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 271.20 (wplog) The current location (N,E) = 4074717.9 , 591221.7 (wplog) The next waypoint = 4074655.8 , 591163.7 (wplog) The bearing to the next w.p. is 223.0 Degrees. : LayeredControl::execute() -- (t = 271.201421) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=102.74 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194900.01,3648.8348,N,-12158.6361,W,1,03,00.5,062.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194900.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194901.01,3648.8342,N,-12158.6368,W,1,03,00.5,062.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194901.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=104.07 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 229.994244 : TerrainNav update at dvl time = 229.994244 : _navData-> (x,y) = (4074715.88, 591219.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194902.01,3648.8336,N,-12158.6375,W,1,03,00.5,063.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194902.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=104.64 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194903.01,3648.8330,N,-12158.6382,W,1,03,00.5,063.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194903.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 229.99 : 45.74 : Estimated East Bias at time = 229.99 : -6.54 : Estimated Depth Bias at time = 229.99 : -0.89 : Estimated northing and easting = 4074761.62 : 591213.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194904.01,3648.8324,N,-12158.6389,W,1,03,00.5,064.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194904.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194905.01,3648.8318,N,-12158.6396,W,1,03,00.5,063.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194905.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=104.82 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194906.01,3648.8312,N,-12158.6403,W,1,03,00.5,064.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194906.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 234.993902 : TerrainNav update at dvl time = 234.993902 : _navData-> (x,y) = (4074710.22, 591214.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=104.88 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194907.01,3648.8306,N,-12158.6410,W,1,03,00.5,063.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194907.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194908.01,3648.8300,N,-12158.6417,W,1,03,00.5,063.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194908.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 234.99 : 42.03 : Estimated East Bias at time = 234.99 : -7.74 : Estimated Depth Bias at time = 234.99 : -0.90 : Estimated northing and easting = 4074752.26 : 591207.04 : LayeredControl _resolvedCommand - vertMode=2 vert=104.95 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194909.01,3648.8294,N,-12158.6424,W,1,03,00.5,063.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194909.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=103.45 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194910.01,3648.8288,N,-12158.6431,W,1,03,00.5,061.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194910.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194911.01,3648.8282,N,-12158.6438,W,1,03,00.5,060.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194911.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=102.81 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4074704.51, 591209.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194912.01,3648.8275,N,-12158.6445,W,1,03,00.5,060.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194912.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=102.82 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194913.01,3648.8269,N,-12158.6451,W,1,03,00.5,060.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194913.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 239.99 : 40.16 : Estimated East Bias at time = 239.99 : -9.88 : Estimated Depth Bias at time = 239.99 : -0.90 : Estimated northing and easting = 4074744.67 : 591199.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=102.64 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194914.01,3648.8264,N,-12158.6458,W,1,03,00.5,059.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194914.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194915.01,3648.8258,N,-12158.6465,W,1,03,00.5,059.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194915.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=102.65 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194916.01,3648.8252,N,-12158.6471,W,1,03,00.5,059.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194916.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 244.993217 : TerrainNav update at dvl time = 244.993217 : _navData-> (x,y) = (4074699.04, 591204.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=103.44 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194917.01,3648.8246,N,-12158.6478,W,1,03,00.5,059.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194917.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194918.01,3648.8241,N,-12158.6485,W,1,03,00.5,059.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194918.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=104.28 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : Estimated North Bias at time = 244.99 : 38.77 : Estimated East Bias at time = 244.99 : -10.70 : Estimated Depth Bias at time = 244.99 : -0.91 : Estimated northing and easting = 4074737.82 : 591194.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194919.01,3648.8235,N,-12158.6491,W,1,03,00.5,059.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194919.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=104.64 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194920.01,3648.8230,N,-12158.6498,W,1,03,00.5,059.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194920.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194921.01,3648.8225,N,-12158.6503,W,1,03,00.5,059.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194921.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 250.002874 : TerrainNav update at dvl time = 250.002874 : _navData-> (x,y) = (4074693.81, 591199.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194922.01,3648.8219,N,-12158.6509,W,1,03,00.5,059.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194922.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194923.01,3648.8214,N,-12158.6515,W,1,03,00.5,059.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194923.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 250.00 : 38.00 : Estimated East Bias at time = 250.00 : -11.31 : Estimated Depth Bias at time = 250.00 : -0.91 : Estimated northing and easting = 4074731.81 : 591188.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194924.01,3648.8208,N,-12158.6521,W,1,03,00.5,060.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194924.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194925.01,3648.8202,N,-12158.6528,W,1,03,00.5,060.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194925.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194926.01,3648.8196,N,-12158.6534,W,1,03,00.5,060.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,194926.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 255.002531 : TerrainNav update at dvl time = 255.002531 : _navData-> (x,y) = (4074688.34, 591195.22) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194927.01,3648.8190,N,-12158.6541,W,1,03,00.5,060.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194927.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194928.01,3648.8184,N,-12158.6548,W,1,03,00.5,060.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194928.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 255.00 : 35.75 : Estimated East Bias at time = 255.00 : -12.58 : Estimated Depth Bias at time = 255.00 : -0.91 : Estimated northing and easting = 4074724.09 : 591182.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194929.01,3648.8179,N,-12158.6555,W,1,03,00.5,060.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194929.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194930.01,3648.8173,N,-12158.6562,W,1,03,00.5,060.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194930.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194931.01,3648.8167,N,-12158.6569,W,1,03,00.5,060.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194931.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 260.002189 : TerrainNav update at dvl time = 260.002189 : _navData-> (x,y) = (4074683.02, 591190.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194932.01,3648.8162,N,-12158.6576,W,1,03,00.5,060.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194932.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194933.01,3648.8156,N,-12158.6583,W,1,03,00.5,060.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,194933.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 260.00 : 35.21 : Estimated East Bias at time = 260.00 : -13.27 : Estimated Depth Bias at time = 260.00 : -0.92 : Estimated northing and easting = 4074718.24 : 591176.88 : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194934.01,3648.8151,N,-12158.6589,W,1,03,00.5,059.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194934.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194935.01,3648.8146,N,-12158.6596,W,1,03,00.5,059.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194935.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194936.01,3648.8140,N,-12158.6603,W,1,03,00.5,060.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194936.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 265.001846 : TerrainNav update at dvl time = 265.001846 : _navData-> (x,y) = (4074678.01, 591185.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194937.01,3648.8135,N,-12158.6610,W,1,03,00.5,060.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194937.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194938.01,3648.8130,N,-12158.6617,W,1,03,00.5,061.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,194938.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 265.00 : 35.23 : Estimated East Bias at time = 265.00 : -13.62 : Estimated Depth Bias at time = 265.00 : -0.92 : Estimated northing and easting = 4074713.24 : 591171.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194939.01,3648.8124,N,-12158.6623,W,1,03,00.5,060.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194939.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194940.01,3648.8119,N,-12158.6630,W,1,03,00.5,060.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194940.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194941.01,3648.8114,N,-12158.6637,W,1,03,00.5,060.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,194941.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4074673.10, 591180.05) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194942.01,3648.8109,N,-12158.6644,W,1,03,00.5,061.5,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,194942.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,194943.01,3648.8104,N,-12158.6651,W,1,03,00.5,061.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194943.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : Estimated North Bias at time = 270.00 : 36.06 : Estimated East Bias at time = 270.00 : -13.85 : Estimated Depth Bias at time = 270.00 : -0.92 : Estimated northing and easting = 4074709.16 : 591166.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194944.01,3648.8098,N,-12158.6658,W,1,03,00.5,061.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194944.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194945.01,3648.8093,N,-12158.6666,W,1,03,00.5,061.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194945.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194946.01,3648.8088,N,-12158.6673,W,1,03,00.5,061.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194946.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 275.001161 : TerrainNav update at dvl time = 275.001161 : _navData-> (x,y) = (4074668.17, 591174.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194947.01,3648.8082,N,-12158.6680,W,1,03,00.5,061.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,194947.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194948.01,3648.8077,N,-12158.6687,W,1,03,00.5,061.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,194948.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 275.00 : 36.65 : Estimated East Bias at time = 275.00 : -13.28 : Estimated Depth Bias at time = 275.00 : -0.92 : Estimated northing and easting = 4074704.81 : 591161.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194949.01,3648.8072,N,-12158.6693,W,1,03,00.5,061.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194949.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194950.01,3648.8067,N,-12158.6700,W,1,03,00.5,062.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,194950.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194951.01,3648.8062,N,-12158.6706,W,1,03,00.5,061.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,194951.00,,,,,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) = (4074663.36, 591169.92) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194952.01,3648.8057,N,-12158.6713,W,1,03,00.5,060.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,194952.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,194953.00,3648.8052,N,-12158.6719,W,1,03,00.5,062.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,194953.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : Estimated North Bias at time = 280.00 : 37.29 : Estimated East Bias at time = 280.00 : -12.74 : Estimated Depth Bias at time = 280.00 : -0.92 : Estimated northing and easting = 4074700.65 : 591157.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,194954.00,3648.8047,N,-12158.6726,W,1,03,00.5,061.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,194954.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194955.00,3648.8042,N,-12158.6733,W,1,03,00.5,061.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,194955.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194956.00,3648.8037,N,-12158.6739,W,1,03,00.5,061.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,194956.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 285.000476 : TerrainNav update at dvl time = 285.000476 : _navData-> (x,y) = (4074658.67, 591165.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,194957.00,3648.8032,N,-12158.6746,W,1,03,00.5,062.4,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=105.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194958.00,3648.8026,N,-12158.6753,W,1,03,00.5,062.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,194958.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 285.00 : 37.59 : Estimated East Bias at time = 285.00 : -12.95 : Estimated Depth Bias at time = 285.00 : -0.92 : Estimated northing and easting = 4074696.25 : 591152.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4074655.8, 591163.7), reached at t = 330.20 (wplog) : Vehicle Position is error is (-0.7, 0.9) : LayeredControl::execute() -- (t = 330.197380) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 330.20 (wplog) The current location (N,E) = 4074656.5 , 591162.9 (wplog) The next waypoint = 4074683.8 , 591058.7 (wplog) The bearing to the next w.p. is 284.7 Degrees. : LayeredControl::execute() -- (t = 330.197380) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=126.55 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,194959.00,3648.8021,N,-12158.6760,W,1,03,00.5,062.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,194959.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195000.00,3648.8016,N,-12158.6766,W,1,03,00.5,061.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195000.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=128.76 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195001.00,3648.8010,N,-12158.6773,W,1,03,00.5,062.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195001.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=127.97 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : TerrainNav update at nav time = 290.000134 : TerrainNav update at dvl time = 290.000134 : _navData-> (x,y) = (4074653.74, 591160.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195002.00,3648.8005,N,-12158.6780,W,1,03,00.5,061.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195002.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=129.01 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195003.00,3648.8001,N,-12158.6787,W,1,03,00.5,062.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195003.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 290.00 : 38.13 : Estimated East Bias at time = 290.00 : -13.22 : Estimated Depth Bias at time = 290.00 : -0.92 : Estimated northing and easting = 4074691.87 : 591146.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195004.00,3648.7997,N,-12158.6795,W,1,03,00.5,061.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195004.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=128.54 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195005.00,3648.7993,N,-12158.6802,W,1,03,00.5,061.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195005.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=129.35 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195006.00,3648.7990,N,-12158.6811,W,1,03,00.5,061.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195006.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 294.999791 : TerrainNav update at dvl time = 294.999791 : _navData-> (x,y) = (4074650.33, 591154.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195007.00,3648.7989,N,-12158.6819,W,1,03,00.5,062.2,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,195007.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195008.00,3648.7988,N,-12158.6828,W,1,03,00.5,062.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195008.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 295.00 : 39.47 : Estimated East Bias at time = 295.00 : -13.94 : Estimated Depth Bias at time = 295.00 : -0.91 : Estimated northing and easting = 4074689.80 : 591140.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195009.00,3648.7987,N,-12158.6837,W,1,03,00.5,063.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195009.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195010.00,3648.7988,N,-12158.6846,W,1,03,00.5,064.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195010.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195011.00,3648.7989,N,-12158.6854,W,1,03,00.5,063.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195011.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4074650.43, 591147.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195012.00,3648.7991,N,-12158.6863,W,1,03,00.5,064.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195012.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195013.00,3648.7994,N,-12158.6871,W,1,03,00.5,064.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195013.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 300.00 : 37.19 : Estimated East Bias at time = 300.00 : -11.83 : Estimated Depth Bias at time = 300.00 : -0.91 : Estimated northing and easting = 4074687.62 : 591136.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195014.00,3648.7997,N,-12158.6878,W,1,03,00.5,065.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195014.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195015.00,3648.8001,N,-12158.6885,W,1,03,00.5,066.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195015.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195016.00,3648.8005,N,-12158.6891,W,1,03,00.5,067.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195016.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 304.999106 : TerrainNav update at dvl time = 304.999106 : _navData-> (x,y) = (4074653.66, 591142.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195017.00,3648.8010,N,-12158.6897,W,1,03,00.5,066.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195017.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195018.00,3648.8015,N,-12158.6903,W,1,03,00.5,066.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195018.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 305.00 : 37.16 : Estimated East Bias at time = 305.00 : -11.18 : Estimated Depth Bias at time = 305.00 : -0.91 : Estimated northing and easting = 4074690.82 : 591131.44 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195019.00,3648.8019,N,-12158.6909,W,1,03,00.5,065.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195019.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195020.00,3648.8024,N,-12158.6915,W,1,03,00.5,063.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195020.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195021.00,3648.8029,N,-12158.6922,W,1,03,00.5,062.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195021.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : TerrainNav update at nav time = 309.998764 : TerrainNav update at dvl time = 309.998764 : _navData-> (x,y) = (4074658.07, 591137.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195022.00,3648.8034,N,-12158.6928,W,1,03,00.5,062.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195022.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195023.00,3648.8039,N,-12158.6935,W,1,03,00.5,062.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195023.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 310.00 : 36.55 : Estimated East Bias at time = 310.00 : -11.07 : Estimated Depth Bias at time = 310.00 : -0.91 : Estimated northing and easting = 4074694.62 : 591126.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195024.00,3648.8044,N,-12158.6942,W,1,03,00.5,061.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195024.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195025.00,3648.8049,N,-12158.6949,W,1,03,00.5,061.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195025.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195026.00,3648.8053,N,-12158.6956,W,1,03,00.5,060.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195026.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 314.998421 : TerrainNav update at dvl time = 314.998421 : _navData-> (x,y) = (4074662.37, 591132.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195027.00,3648.8057,N,-12158.6963,W,1,03,00.5,060.9,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,195028.00,3648.8061,N,-12158.6971,W,1,03,00.5,060.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195028.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : Estimated North Bias at time = 315.00 : 34.97 : Estimated East Bias at time = 315.00 : -11.82 : Estimated Depth Bias at time = 315.00 : -0.92 : Estimated northing and easting = 4074697.33 : 591120.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195029.00,3648.8065,N,-12158.6978,W,1,03,00.5,060.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195029.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195030.00,3648.8069,N,-12158.6987,W,1,03,00.5,059.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195030.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195031.00,3648.8072,N,-12158.6995,W,1,03,00.5,059.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195031.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 319.998079 : TerrainNav update at dvl time = 319.998079 : _navData-> (x,y) = (4074665.70, 591126.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195032.00,3648.8075,N,-12158.7003,W,1,03,00.5,059.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195032.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195033.00,3648.8078,N,-12158.7012,W,1,03,00.5,058.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195033.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 320.00 : 33.40 : Estimated East Bias at time = 320.00 : -11.32 : Estimated Depth Bias at time = 320.00 : -0.92 : Estimated northing and easting = 4074699.10 : 591115.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195034.00,3648.8081,N,-12158.7021,W,1,03,00.5,059.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195034.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195035.00,3648.8084,N,-12158.7030,W,1,03,00.5,059.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195035.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195036.00,3648.8087,N,-12158.7039,W,1,03,00.5,058.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195036.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : TerrainNav update at nav time = 324.997736 : TerrainNav update at dvl time = 324.997736 : _navData-> (x,y) = (4074668.26, 591120.28) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195037.00,3648.8089,N,-12158.7048,W,1,03,00.5,058.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195037.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195038.00,3648.8092,N,-12158.7056,W,1,03,00.5,058.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195038.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 325.00 : 31.94 : Estimated East Bias at time = 325.00 : -10.02 : Estimated Depth Bias at time = 325.00 : -0.92 : Estimated northing and easting = 4074700.20 : 591110.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195039.00,3648.8095,N,-12158.7065,W,1,03,00.5,058.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195039.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195040.00,3648.8097,N,-12158.7074,W,1,03,00.5,058.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195040.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195041.00,3648.8100,N,-12158.7083,W,1,03,00.5,058.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195041.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4074670.60, 591113.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195042.00,3648.8102,N,-12158.7092,W,1,03,00.5,058.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195042.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195043.00,3648.8105,N,-12158.7101,W,1,03,00.5,058.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195043.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 330.00 : 30.02 : Estimated East Bias at time = 330.00 : -9.27 : Estimated Depth Bias at time = 330.00 : -0.92 : Estimated northing and easting = 4074700.61 : 591104.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195044.00,3648.8107,N,-12158.7110,W,1,03,00.5,058.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195044.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195045.00,3648.8109,N,-12158.7119,W,1,03,00.5,058.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195045.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195046.00,3648.8111,N,-12158.7128,W,1,03,00.5,058.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195046.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : TerrainNav update at nav time = 334.997051 : TerrainNav update at dvl time = 334.997051 : _navData-> (x,y) = (4074672.60, 591106.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195047.00,3648.8113,N,-12158.7138,W,1,03,00.5,057.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195047.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195048.00,3648.8115,N,-12158.7147,W,1,03,00.5,058.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195048.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 335.00 : 27.09 : Estimated East Bias at time = 335.00 : -9.05 : Estimated Depth Bias at time = 335.00 : -0.92 : Estimated northing and easting = 4074699.69 : 591097.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195049.00,3648.8117,N,-12158.7156,W,1,03,00.5,058.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195049.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195050.00,3648.8119,N,-12158.7165,W,1,03,00.5,058.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195050.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195051.00,3648.8121,N,-12158.7175,W,1,03,00.5,057.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195051.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 339.996709 : TerrainNav update at dvl time = 339.996709 : _navData-> (x,y) = (4074674.23, 591099.97) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195052.00,3648.8122,N,-12158.7184,W,1,03,00.5,058.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195052.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195053.00,3648.8124,N,-12158.7193,W,1,03,00.5,058.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195053.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 340.00 : 24.69 : Estimated East Bias at time = 340.00 : -8.22 : Estimated Depth Bias at time = 340.00 : -0.92 : Estimated northing and easting = 4074698.92 : 591091.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195054.00,3648.8126,N,-12158.7202,W,1,03,00.5,058.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195054.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195055.00,3648.8128,N,-12158.7212,W,1,03,00.5,057.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195055.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195056.00,3648.8129,N,-12158.7221,W,1,03,00.5,058.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195056.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : TerrainNav update at nav time = 344.996366 : TerrainNav update at dvl time = 344.996366 : _navData-> (x,y) = (4074675.79, 591093.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195057.00,3648.8131,N,-12158.7230,W,1,03,00.5,058.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195057.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195058.00,3648.8133,N,-12158.7239,W,1,03,00.5,057.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195058.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 345.00 : 22.59 : Estimated East Bias at time = 345.00 : -7.91 : Estimated Depth Bias at time = 345.00 : -0.92 : Estimated northing and easting = 4074698.38 : 591085.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195059.00,3648.8135,N,-12158.7248,W,1,03,00.5,058.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195059.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195100.00,3648.8137,N,-12158.7257,W,1,03,00.5,057.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195100.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195101.00,3648.8139,N,-12158.7266,W,1,03,00.5,058.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195101.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 349.996024 : TerrainNav update at dvl time = 349.996024 : _navData-> (x,y) = (4074677.40, 591086.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195102.00,3648.8140,N,-12158.7275,W,1,03,00.5,057.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195102.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195103.00,3648.8142,N,-12158.7285,W,1,03,00.5,058.0,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=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : Estimated North Bias at time = 350.00 : 21.11 : Estimated East Bias at time = 350.00 : -7.21 : Estimated Depth Bias at time = 350.00 : -0.92 : Estimated northing and easting = 4074698.50 : 591079.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195104.00,3648.8144,N,-12158.7294,W,1,03,00.5,057.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195104.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195105.00,3648.8145,N,-12158.7303,W,1,03,00.5,057.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195105.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195106.00,3648.8147,N,-12158.7312,W,1,03,00.5,057.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195106.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 354.995681 : TerrainNav update at dvl time = 354.995681 : _navData-> (x,y) = (4074678.86, 591079.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195107.00,3648.8149,N,-12158.7321,W,1,03,00.5,057.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195107.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195108.00,3648.8150,N,-12158.7330,W,1,03,00.5,057.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195108.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 355.00 : 18.76 : Estimated East Bias at time = 355.00 : -6.85 : Estimated Depth Bias at time = 355.00 : -0.92 : Estimated northing and easting = 4074697.62 : 591072.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195109.00,3648.8152,N,-12158.7340,W,1,03,00.5,056.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195109.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195110.00,3648.8153,N,-12158.7349,W,1,03,00.5,056.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195110.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195111.00,3648.8155,N,-12158.7358,W,1,03,00.5,057.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195111.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4074680.32, 591072.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195112.00,3648.8157,N,-12158.7367,W,1,03,00.5,057.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195112.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195113.00,3648.8159,N,-12158.7376,W,1,03,00.5,057.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195113.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 360.00 : 17.07 : Estimated East Bias at time = 360.00 : -7.02 : Estimated Depth Bias at time = 360.00 : -0.92 : Estimated northing and easting = 4074697.39 : 591065.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195114.00,3648.8161,N,-12158.7385,W,1,03,00.5,057.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195114.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195115.00,3648.8162,N,-12158.7394,W,1,03,00.5,058.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195115.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195116.00,3648.8164,N,-12158.7403,W,1,03,00.5,057.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195116.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 364.994996 : TerrainNav update at dvl time = 364.994996 : _navData-> (x,y) = (4074681.93, 591065.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195117.00,3648.8166,N,-12158.7412,W,1,03,00.5,056.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195117.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195118.00,3648.8168,N,-12158.7422,W,1,03,00.5,057.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195118.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 364.99 : 16.52 : Estimated East Bias at time = 364.99 : -8.42 : Estimated Depth Bias at time = 364.99 : -0.92 : Estimated northing and easting = 4074698.45 : 591057.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195119.00,3648.8169,N,-12158.7431,W,1,03,00.5,057.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195119.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195120.00,3648.8171,N,-12158.7440,W,1,03,00.5,057.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195120.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195121.00,3648.8173,N,-12158.7449,W,1,03,00.5,057.4,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=130.00 horzlMode=3 horz=4.97 speedMode=1 speed=1.50 : TerrainNav update at nav time = 369.994654 : TerrainNav update at dvl time = 369.994654 : _navData-> (x,y) = (4074683.44, 591059.08) : _tercom->outstandingMeas() = 0 : Waypoint has set the state to finished. : Waypoint (4074683.8, 591058.7), reached at t = 413.39 (wplog) : Vehicle Position is error is (0.2, 0.2) : LayeredControl::execute() -- (t = 413.401680) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 413.40 (wplog) The current location (N,E) = 4074683.6 , 591058.5 (wplog) The next waypoint = 4074752.1 , 590820.1 (wplog) The bearing to the next w.p. is 286.0 Degrees. : LayeredControl::execute() -- (t = 413.401680) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,195122.00,3648.8175,N,-12158.7458,W,1,03,00.5,057.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195122.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=162.42 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195123.01,3648.8177,N,-12158.7469,W,1,03,00.5,055.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195123.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 369.99 : 16.23 : Estimated East Bias at time = 369.99 : -7.03 : Estimated Depth Bias at time = 369.99 : -0.93 : Estimated northing and easting = 4074699.68 : 591052.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195124.01,3648.8178,N,-12158.7478,W,1,03,00.5,056.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195124.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=163.39 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195125.01,3648.8180,N,-12158.7487,W,1,03,00.5,056.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195125.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=163.93 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195126.01,3648.8182,N,-12158.7496,W,1,03,00.5,055.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195126.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 374.994311 : TerrainNav update at dvl time = 374.994311 : _navData-> (x,y) = (4074685.01, 591052.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=164.34 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195127.01,3648.8184,N,-12158.7505,W,1,03,00.5,055.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195127.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195128.01,3648.8186,N,-12158.7514,W,1,03,00.5,055.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195128.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 374.99 : 16.06 : Estimated East Bias at time = 374.99 : -6.76 : Estimated Depth Bias at time = 374.99 : -0.93 : Estimated northing and easting = 4074701.07 : 591045.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195129.01,3648.8188,N,-12158.7523,W,1,03,00.5,055.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195129.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195130.01,3648.8189,N,-12158.7533,W,1,03,00.5,055.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195130.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195131.01,3648.8191,N,-12158.7542,W,1,03,00.5,055.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195131.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 379.993969 : TerrainNav update at dvl time = 379.993969 : _navData-> (x,y) = (4074686.71, 591045.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195132.01,3648.8194,N,-12158.7551,W,1,03,00.5,055.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195132.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195133.01,3648.8196,N,-12158.7560,W,1,03,00.5,055.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195133.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 379.99 : 15.71 : Estimated East Bias at time = 379.99 : -6.62 : Estimated Depth Bias at time = 379.99 : -0.93 : Estimated northing and easting = 4074702.43 : 591038.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195134.01,3648.8198,N,-12158.7569,W,1,03,00.5,055.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195134.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195135.01,3648.8200,N,-12158.7578,W,1,03,00.5,055.2,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=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195136.01,3648.8202,N,-12158.7588,W,1,03,00.5,055.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195136.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 384.993626 : TerrainNav update at dvl time = 384.993626 : _navData-> (x,y) = (4074688.57, 591038.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195137.01,3648.8204,N,-12158.7597,W,1,03,00.5,055.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195137.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195138.01,3648.8206,N,-12158.7606,W,1,03,00.5,055.2,M,-99.9,M,,*48 : Estimated North Bias at time = 384.99 : 15.13 : AshtechGps::processRecord() - $GPGGA,195138.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 384.99 : -6.09 : Estimated Depth Bias at time = 384.99 : -0.93 : Estimated northing and easting = 4074703.69 : 591032.61 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195139.01,3648.8208,N,-12158.7615,W,1,03,00.5,055.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195139.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195140.01,3648.8210,N,-12158.7624,W,1,03,00.5,054.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195140.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195141.01,3648.8212,N,-12158.7633,W,1,03,00.5,054.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195141.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4074690.39, 591031.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195142.01,3648.8214,N,-12158.7642,W,1,03,00.5,054.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195142.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195143.01,3648.8216,N,-12158.7652,W,1,03,00.5,054.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195143.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 389.99 : 14.47 : Estimated East Bias at time = 389.99 : -6.58 : Estimated Depth Bias at time = 389.99 : -0.93 : Estimated northing and easting = 4074704.86 : 591025.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195144.01,3648.8218,N,-12158.7661,W,1,03,00.5,054.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195144.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195145.01,3648.8221,N,-12158.7670,W,1,03,00.5,054.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195145.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195146.01,3648.8223,N,-12158.7679,W,1,03,00.5,054.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195146.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 395.002940 : TerrainNav update at dvl time = 395.002940 : _navData-> (x,y) = (4074692.34, 591025.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195147.01,3648.8225,N,-12158.7687,W,1,03,00.5,054.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195147.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195148.01,3648.8227,N,-12158.7696,W,1,03,00.5,053.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195148.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 395.00 : 13.62 : Estimated East Bias at time = 395.00 : -6.85 : Estimated Depth Bias at time = 395.00 : -0.93 : Estimated northing and easting = 4074705.96 : 591018.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195149.01,3648.8230,N,-12158.7705,W,1,03,00.5,053.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195149.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195150.01,3648.8232,N,-12158.7714,W,1,03,00.5,053.1,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=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195151.01,3648.8234,N,-12158.7724,W,1,03,00.5,053.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195151.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 400.002598 : TerrainNav update at dvl time = 400.002598 : _navData-> (x,y) = (4074694.46, 591018.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195152.01,3648.8237,N,-12158.7733,W,1,03,00.5,053.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195152.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195153.01,3648.8239,N,-12158.7742,W,1,03,00.5,053.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195153.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 400.00 : 12.76 : Estimated East Bias at time = 400.00 : -6.44 : Estimated Depth Bias at time = 400.00 : -0.93 : Estimated northing and easting = 4074707.22 : 591011.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195154.01,3648.8242,N,-12158.7751,W,1,03,00.5,052.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195154.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195155.01,3648.8244,N,-12158.7761,W,1,03,00.5,052.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195155.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195156.01,3648.8247,N,-12158.7770,W,1,03,00.5,052.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195156.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 405.002255 : TerrainNav update at dvl time = 405.002255 : _navData-> (x,y) = (4074696.65, 591011.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195157.01,3648.8249,N,-12158.7779,W,1,03,00.5,052.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195157.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195158.01,3648.8252,N,-12158.7789,W,1,03,00.5,051.5,M,-99.9,M,,*4a : Estimated North Bias at time = 405.00 : 11.64 : Estimated East Bias at time = 405.00 : -7.61 : Estimated Depth Bias at time = 405.00 : -0.93 : Estimated northing and easting = 4074708.28 : 591003.58 : AshtechGps::processRecord() - $GPGGA,195158.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195159.01,3648.8254,N,-12158.7798,W,1,03,00.5,051.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195159.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195200.01,3648.8257,N,-12158.7807,W,1,03,00.5,050.9,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=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195201.01,3648.8259,N,-12158.7817,W,1,03,00.5,050.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195201.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 410.001913 : TerrainNav update at dvl time = 410.001913 : _navData-> (x,y) = (4074698.96, 591004.21) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195202.01,3648.8262,N,-12158.7826,W,1,03,00.5,050.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195202.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195203.01,3648.8265,N,-12158.7836,W,1,03,00.5,050.2,M,-99.9,M,,*4e : Estimated North Bias at time = 410.00 : 10.90 : Estimated East Bias at time = 410.00 : -7.89 : Estimated Depth Bias at time = 410.00 : -0.93 : Estimated northing and easting = 4074709.86 : 590996.32 : AshtechGps::processRecord() - $GPGGA,195203.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195204.01,3648.8267,N,-12158.7845,W,1,03,00.5,050.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195204.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195205.01,3648.8270,N,-12158.7855,W,1,03,00.5,050.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195205.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195206.01,3648.8273,N,-12158.7864,W,1,03,00.5,050.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195206.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 415.001570 : TerrainNav update at dvl time = 415.001570 : _navData-> (x,y) = (4074701.32, 590997.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195207.01,3648.8275,N,-12158.7874,W,1,03,00.5,050.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195207.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195208.01,3648.8278,N,-12158.7883,W,1,03,00.5,050.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195208.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 415.00 : 9.82 : Estimated East Bias at time = 415.00 : -8.95 : Estimated Depth Bias at time = 415.00 : -0.93 : Estimated northing and easting = 4074711.14 : 590988.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195209.01,3648.8280,N,-12158.7892,W,1,03,00.5,048.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195209.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195210.01,3648.8283,N,-12158.7902,W,1,03,00.5,049.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195210.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195211.01,3648.8285,N,-12158.7911,W,1,03,00.5,048.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195211.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4074703.62, 590990.09) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195212.01,3648.8288,N,-12158.7921,W,1,03,00.5,047.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195212.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 420.00 : 9.08 : Estimated East Bias at time = 420.00 : -11.58 : Estimated Depth Bias at time = 420.00 : -0.94 : Estimated northing and easting = 4074712.70 : 590978.51 : NMEA Update: $GPGGA,195213.01,3648.8290,N,-12158.7930,W,1,03,00.5,048.2,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195213.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195214.01,3648.8293,N,-12158.7940,W,1,03,00.5,047.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195214.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195215.01,3648.8295,N,-12158.7949,W,1,03,00.5,047.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195215.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195216.01,3648.8298,N,-12158.7959,W,1,03,00.5,047.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195216.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 425.000885 : TerrainNav update at dvl time = 425.000885 : _navData-> (x,y) = (4074705.80, 590983.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195217.01,3648.8300,N,-12158.7968,W,1,03,00.5,046.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195217.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 425.00 : 8.83 : Estimated East Bias at time = 425.00 : -11.90 : Estimated Depth Bias at time = 425.00 : -0.94 : NMEA Update: $GPGGA,195218.01,3648.8302,N,-12158.7978,W,1,03,00.5,046.2,M,-99.9,M,,*48 : Estimated northing and easting = 4074714.63 : 590971.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195218.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195219.00,3648.8305,N,-12158.7987,W,1,03,00.5,045.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195219.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195220.00,3648.8307,N,-12158.7997,W,1,03,00.5,045.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195220.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195221.00,3648.8310,N,-12158.8006,W,1,03,00.5,045.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195221.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 430.000543 : TerrainNav update at dvl time = 430.000543 : _navData-> (x,y) = (4074707.93, 590975.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195222.00,3648.8312,N,-12158.8016,W,1,03,00.5,045.7,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=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195223.00,3648.8315,N,-12158.8025,W,1,03,00.5,044.9,M,-99.9,M,,*40 : Estimated North Bias at time = 430.00 : 8.44 : Estimated East Bias at time = 430.00 : -13.57 : Estimated Depth Bias at time = 430.00 : -0.94 : Estimated northing and easting = 4074716.37 : 590962.38 : AshtechGps::processRecord() - $GPGGA,195223.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195224.00,3648.8317,N,-12158.8034,W,1,03,00.5,044.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195224.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195225.00,3648.8320,N,-12158.8044,W,1,03,00.5,044.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195225.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195226.00,3648.8322,N,-12158.8053,W,1,03,00.5,043.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195226.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 435.000201 : TerrainNav update at dvl time = 435.000201 : _navData-> (x,y) = (4074710.21, 590968.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195227.00,3648.8325,N,-12158.8063,W,1,03,00.5,043.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195227.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 435.00 : 7.93 : Estimated East Bias at time = 435.00 : -13.62 : Estimated Depth Bias at time = 435.00 : -0.94 : Estimated northing and easting = 4074718.14 : 590955.29 : NMEA Update: $GPGGA,195228.00,3648.8327,N,-12158.8072,W,1,03,00.5,042.7,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195228.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195229.00,3648.8329,N,-12158.8082,W,1,03,00.5,042.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195229.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195230.00,3648.8332,N,-12158.8091,W,1,03,00.5,042.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195230.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195231.00,3648.8334,N,-12158.8101,W,1,03,00.5,041.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195231.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 439.999858 : TerrainNav update at dvl time = 439.999858 : _navData-> (x,y) = (4074712.17, 590961.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195232.00,3648.8336,N,-12158.8111,W,1,03,00.5,042.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195232.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 440.00 : 7.34 : Estimated East Bias at time = 440.00 : -13.24 : Estimated Depth Bias at time = 440.00 : -0.93 : Estimated northing and easting = 4074719.51 : 590948.54 : NMEA Update: $GPGGA,195233.00,3648.8338,N,-12158.8120,W,1,03,00.5,041.8,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195233.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195234.00,3648.8340,N,-12158.8130,W,1,03,00.5,041.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195234.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195235.00,3648.8342,N,-12158.8139,W,1,03,00.5,040.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195235.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195236.00,3648.8344,N,-12158.8149,W,1,03,00.5,041.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195236.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 444.999516 : TerrainNav update at dvl time = 444.999516 : _navData-> (x,y) = (4074713.95, 590954.68) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195237.00,3648.8346,N,-12158.8158,W,1,03,00.5,040.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195237.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 445.00 : 7.04 : Estimated East Bias at time = 445.00 : -11.97 : Estimated Depth Bias at time = 445.00 : -0.93 : Estimated northing and easting = 4074721.00 : 590942.71 : NMEA Update: $GPGGA,195238.00,3648.8348,N,-12158.8168,W,1,03,00.5,040.6,M,-99.9,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195238.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195239.00,3648.8350,N,-12158.8177,W,1,03,00.5,039.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195239.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195240.00,3648.8352,N,-12158.8186,W,1,03,00.5,039.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195240.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195241.00,3648.8354,N,-12158.8196,W,1,03,00.5,039.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195241.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4074715.79, 590947.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195242.00,3648.8356,N,-12158.8205,W,1,03,00.5,039.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195242.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195243.00,3648.8358,N,-12158.8215,W,1,03,00.5,038.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195243.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 450.00 : 6.88 : Estimated East Bias at time = 450.00 : -13.18 : Estimated Depth Bias at time = 450.00 : -0.93 : Estimated northing and easting = 4074722.67 : 590934.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195244.00,3648.8360,N,-12158.8224,W,1,03,00.5,038.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195244.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195245.00,3648.8362,N,-12158.8234,W,1,03,00.5,038.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195245.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195246.00,3648.8364,N,-12158.8243,W,1,03,00.5,038.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195246.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 454.998831 : TerrainNav update at dvl time = 454.998831 : _navData-> (x,y) = (4074717.61, 590940.60) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195247.00,3648.8366,N,-12158.8253,W,1,03,00.5,038.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195247.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 455.00 : 6.50 : Estimated East Bias at time = 455.00 : -13.56 : Estimated Depth Bias at time = 455.00 : -0.93 : Estimated northing and easting = 4074724.11 : 590927.04 : NMEA Update: $GPGGA,195248.00,3648.8368,N,-12158.8262,W,1,03,00.5,038.4,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195248.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195249.00,3648.8370,N,-12158.8272,W,1,03,00.5,038.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195249.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195250.00,3648.8372,N,-12158.8282,W,1,03,00.5,038.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195250.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195251.00,3648.8374,N,-12158.8292,W,1,03,00.5,039.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195251.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 459.998488 : TerrainNav update at dvl time = 459.998488 : _navData-> (x,y) = (4074719.44, 590933.32) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,195252.00,3648.8377,N,-12158.8302,W,1,03,00.5,039.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195252.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 460.00 : 6.45 : Estimated East Bias at time = 460.00 : -13.79 : Estimated Depth Bias at time = 460.00 : -0.93 : Estimated northing and easting = 4074725.89 : 590919.53 : NMEA Update: $GPGGA,195253.00,3648.8379,N,-12158.8312,W,1,03,00.5,039.5,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195253.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195254.00,3648.8381,N,-12158.8322,W,1,03,00.5,039.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195254.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195255.00,3648.8383,N,-12158.8332,W,1,03,00.5,039.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195255.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195256.00,3648.8385,N,-12158.8342,W,1,03,00.5,040.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195256.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 464.998145 : TerrainNav update at dvl time = 464.998145 : _navData-> (x,y) = (4074721.39, 590925.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195257.00,3648.8388,N,-12158.8352,W,1,03,00.5,040.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195257.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 465.00 : 6.37 : Estimated East Bias at time = 465.00 : -13.78 : Estimated Depth Bias at time = 465.00 : -0.93 : Estimated northing and easting = 4074727.76 : 590912.11 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195258.00,3648.8390,N,-12158.8362,W,1,03,00.5,040.5,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195258.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195259.00,3648.8392,N,-12158.8372,W,1,03,00.5,040.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195259.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195300.00,3648.8395,N,-12158.8382,W,1,03,00.5,041.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195300.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195301.00,3648.8397,N,-12158.8392,W,1,03,00.5,041.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195301.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 469.997803 : TerrainNav update at dvl time = 469.997803 : _navData-> (x,y) = (4074723.44, 590918.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195302.00,3648.8399,N,-12158.8402,W,1,03,00.5,041.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195302.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 470.00 : 6.33 : Estimated East Bias at time = 470.00 : -13.23 : Estimated Depth Bias at time = 470.00 : -0.93 : Estimated northing and easting = 4074729.77 : 590905.16 : NMEA Update: $GPGGA,195303.00,3648.8402,N,-12158.8412,W,1,03,00.5,041.1,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195303.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195304.00,3648.8404,N,-12158.8422,W,1,03,00.5,041.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195304.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195305.00,3648.8406,N,-12158.8432,W,1,03,00.5,041.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195305.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195306.00,3648.8409,N,-12158.8442,W,1,03,00.5,041.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195306.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 474.997460 : TerrainNav update at dvl time = 474.997460 : _navData-> (x,y) = (4074725.56, 590910.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195307.00,3648.8411,N,-12158.8452,W,1,03,00.5,042.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195307.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 475.00 : 6.28 : Estimated East Bias at time = 475.00 : -12.94 : Estimated Depth Bias at time = 475.00 : -0.93 : Estimated northing and easting = 4074731.83 : 590897.99 : NMEA Update: $GPGGA,195308.00,3648.8414,N,-12158.8462,W,1,03,00.5,042.5,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195308.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195309.00,3648.8416,N,-12158.8472,W,1,03,00.5,042.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195309.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195310.00,3648.8418,N,-12158.8482,W,1,03,00.5,042.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195310.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195311.00,3648.8421,N,-12158.8492,W,1,03,00.5,043.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195311.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4074727.76, 590903.43) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195312.00,3648.8423,N,-12158.8502,W,1,03,00.5,043.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195312.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 480.00 : 6.25 : Estimated East Bias at time = 480.00 : -13.55 : Estimated Depth Bias at time = 480.00 : -0.93 : Estimated northing and easting = 4074734.01 : 590889.87 : NMEA Update: $GPGGA,195313.00,3648.8426,N,-12158.8512,W,1,03,00.5,043.8,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195313.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195314.00,3648.8428,N,-12158.8522,W,1,03,00.5,043.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195314.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195315.00,3648.8431,N,-12158.8532,W,1,03,00.5,044.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195315.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195316.00,3648.8434,N,-12158.8542,W,1,03,00.5,044.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195316.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 484.996775 : TerrainNav update at dvl time = 484.996775 : _navData-> (x,y) = (4074730.00, 590895.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195317.00,3648.8436,N,-12158.8552,W,1,03,00.5,044.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195317.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 485.00 : 6.29 : Estimated East Bias at time = 485.00 : -12.88 : Estimated Depth Bias at time = 485.00 : -0.93 : Estimated northing and easting = 4074736.29 : 590883.05 : NMEA Update: $GPGGA,195318.00,3648.8439,N,-12158.8562,W,1,03,00.5,045.3,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195318.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195319.00,3648.8441,N,-12158.8572,W,1,03,00.5,045.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195319.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195320.00,3648.8443,N,-12158.8582,W,1,03,00.5,045.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195320.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195321.00,3648.8446,N,-12158.8592,W,1,03,00.5,045.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195321.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 489.996433 : TerrainNav update at dvl time = 489.996433 : _navData-> (x,y) = (4074732.18, 590888.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195322.00,3648.8448,N,-12158.8602,W,1,03,00.5,045.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195322.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 490.00 : 6.21 : Estimated East Bias at time = 490.00 : -12.42 : Estimated Depth Bias at time = 490.00 : -0.93 : Estimated northing and easting = 4074738.40 : 590876.07 : NMEA Update: $GPGGA,195323.00,3648.8451,N,-12158.8612,W,1,03,00.5,045.9,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195323.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195324.00,3648.8453,N,-12158.8622,W,1,03,00.5,046.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195324.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195325.00,3648.8455,N,-12158.8633,W,1,03,00.5,046.7,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=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195326.00,3648.8458,N,-12158.8643,W,1,03,00.5,047.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195326.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 494.996090 : TerrainNav update at dvl time = 494.996090 : _navData-> (x,y) = (4074734.35, 590881.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195327.00,3648.8460,N,-12158.8653,W,1,03,00.5,046.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195327.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195328.00,3648.8463,N,-12158.8663,W,1,03,00.5,047.0,M,-99.9,M,,*42 : Estimated North Bias at time = 495.00 : 6.14 : Estimated East Bias at time = 495.00 : -11.93 : Estimated Depth Bias at time = 495.00 : -0.93 : Estimated northing and easting = 4074740.48 : 590869.08 : AshtechGps::processRecord() - $GPGGA,195328.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195329.00,3648.8465,N,-12158.8673,W,1,03,00.5,047.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195329.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195330.00,3648.8468,N,-12158.8683,W,1,03,00.5,047.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195330.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195331.00,3648.8470,N,-12158.8693,W,1,03,00.5,047.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195331.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 499.995748 : TerrainNav update at dvl time = 499.995748 : _navData-> (x,y) = (4074736.59, 590873.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195332.00,3648.8473,N,-12158.8703,W,1,03,00.5,047.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195332.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195333.00,3648.8476,N,-12158.8713,W,1,03,00.5,048.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195333.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 500.00 : 5.91 : Estimated East Bias at time = 500.00 : -11.25 : Estimated Depth Bias at time = 500.00 : -0.93 : Estimated northing and easting = 4074742.50 : 590862.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195334.00,3648.8478,N,-12158.8723,W,1,03,00.5,048.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195334.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195335.00,3648.8481,N,-12158.8732,W,1,03,00.5,048.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195335.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195336.00,3648.8483,N,-12158.8742,W,1,03,00.5,048.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195336.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 504.995405 : TerrainNav update at dvl time = 504.995405 : _navData-> (x,y) = (4074738.84, 590866.09) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195337.00,3648.8486,N,-12158.8753,W,1,03,00.5,049.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195337.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195338.00,3648.8488,N,-12158.8763,W,1,03,00.5,049.1,M,-99.9,M,,*48 : Estimated North Bias at time = 505.00 : 5.89 : Estimated East Bias at time = 505.00 : -10.45 : Estimated Depth Bias at time = 505.00 : -0.93 : Estimated northing and easting = 4074744.73 : 590855.65 : AshtechGps::processRecord() - $GPGGA,195338.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195339.00,3648.8490,N,-12158.8773,W,1,03,00.5,049.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195339.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195340.00,3648.8493,N,-12158.8783,W,1,03,00.5,049.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195340.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195341.00,3648.8495,N,-12158.8793,W,1,03,00.5,049.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195341.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 509.995063 : TerrainNav update at dvl time = 509.995063 : _navData-> (x,y) = (4074741.00, 590858.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195342.00,3648.8498,N,-12158.8803,W,1,03,00.5,049.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195342.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 510.00 : 5.67 : Estimated East Bias at time = 510.00 : -8.77 : Estimated Depth Bias at time = 510.00 : -0.93 : Estimated northing and easting = 4074746.67 : 590849.79 : NMEA Update: $GPGGA,195343.00,3648.8500,N,-12158.8813,W,1,03,00.5,050.6,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195343.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195344.00,3648.8502,N,-12158.8823,W,1,03,00.5,050.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195344.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195345.00,3648.8505,N,-12158.8833,W,1,03,00.5,051.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195345.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195346.00,3648.8507,N,-12158.8844,W,1,03,00.5,051.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195346.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 514.994720 : TerrainNav update at dvl time = 514.994720 : _navData-> (x,y) = (4074743.12, 590851.03) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195347.00,3648.8510,N,-12158.8854,W,1,03,00.5,050.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195347.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195348.00,3648.8512,N,-12158.8864,W,1,03,00.5,052.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195348.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 514.99 : 5.41 : Estimated East Bias at time = 514.99 : -6.60 : Estimated Depth Bias at time = 514.99 : -0.93 : Estimated northing and easting = 4074748.53 : 590844.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195349.01,3648.8515,N,-12158.8876,W,1,03,00.5,051.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195349.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195350.01,3648.8517,N,-12158.8886,W,1,03,00.5,051.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195350.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195351.01,3648.8520,N,-12158.8896,W,1,03,00.5,052.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195351.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 519.994378 : TerrainNav update at dvl time = 519.994378 : _navData-> (x,y) = (4074745.24, 590843.50) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195352.01,3648.8522,N,-12158.8906,W,1,03,00.5,053.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195352.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195353.01,3648.8524,N,-12158.8916,W,1,03,00.5,053.3,M,-99.9,M,,*46 : Estimated North Bias at time = 519.99 : 5.28 : Estimated East Bias at time = 519.99 : -6.39 : Estimated Depth Bias at time = 519.99 : -0.93 : Estimated northing and easting = 4074750.52 : 590837.11 : AshtechGps::processRecord() - $GPGGA,195353.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195354.01,3648.8527,N,-12158.8926,W,1,03,00.5,053.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195354.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195355.01,3648.8529,N,-12158.8936,W,1,03,00.5,053.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195355.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195356.01,3648.8532,N,-12158.8947,W,1,03,00.5,054.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195356.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 524.994035 : TerrainNav update at dvl time = 524.994035 : _navData-> (x,y) = (4074747.42, 590835.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195357.01,3648.8534,N,-12158.8957,W,1,03,00.5,055.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195357.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195358.01,3648.8537,N,-12158.8967,W,1,03,00.5,055.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195358.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 524.99 : 5.04 : Estimated East Bias at time = 524.99 : -6.96 : Estimated Depth Bias at time = 524.99 : -0.93 : Estimated northing and easting = 4074752.45 : 590828.99 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195359.01,3648.8539,N,-12158.8977,W,1,03,00.5,054.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195359.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195400.01,3648.8541,N,-12158.8987,W,1,03,00.5,054.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195400.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195401.01,3648.8544,N,-12158.8997,W,1,03,00.5,055.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195401.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 529.993693 : TerrainNav update at dvl time = 529.993693 : _navData-> (x,y) = (4074749.58, 590828.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195402.01,3648.8546,N,-12158.9007,W,1,03,00.5,055.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195402.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195403.01,3648.8549,N,-12158.9017,W,1,03,00.5,055.7,M,-99.9,M,,*44 : Estimated North Bias at time = 529.99 : 4.76 : Estimated East Bias at time = 529.99 : -6.72 : Estimated Depth Bias at time = 529.99 : -0.93 : Estimated northing and easting = 4074754.34 : 590821.70 : AshtechGps::processRecord() - $GPGGA,195403.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195404.01,3648.8551,N,-12158.9027,W,1,03,00.5,056.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195404.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195405.01,3648.8553,N,-12158.9037,W,1,03,00.5,057.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195405.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195406.01,3648.8556,N,-12158.9047,W,1,03,00.5,056.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195406.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 534.993351 : TerrainNav update at dvl time = 534.993351 : _navData-> (x,y) = (4074751.72, 590820.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195407.01,3648.8558,N,-12158.9058,W,1,03,00.5,056.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195407.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074752.1, 590820.1), reached at t = 578.60 (wplog) : Vehicle Position is error is (0.1, 0.0) : LayeredControl::execute() -- (t = 578.600363) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 578.60 (wplog) The current location (N,E) = 4074752.0 , 590820.0 (wplog) The next waypoint = 4074838.2 , 590784.9 (wplog) The bearing to the next w.p. is 337.9 Degrees. : LayeredControl::execute() -- (t = 578.600363) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195408.01,3648.8561,N,-12158.9068,W,1,03,00.5,057.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195408.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 534.99 : 4.49 : Estimated East Bias at time = 534.99 : -4.87 : Estimated Depth Bias at time = 534.99 : -0.93 : Estimated northing and easting = 4074756.20 : 590816.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195409.01,3648.8563,N,-12158.9078,W,1,03,00.5,057.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195409.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195410.01,3648.8566,N,-12158.9088,W,1,03,00.5,058.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195410.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195411.01,3648.8569,N,-12158.9097,W,1,03,00.5,058.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195411.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 539.993008 : TerrainNav update at dvl time = 539.993008 : _navData-> (x,y) = (4074754.19, 590813.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195412.01,3648.8573,N,-12158.9107,W,1,03,00.5,058.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195412.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195413.01,3648.8576,N,-12158.9114,W,1,03,00.5,058.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195413.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 539.99 : 4.41 : Estimated East Bias at time = 539.99 : -3.76 : Estimated Depth Bias at time = 539.99 : -0.93 : Estimated northing and easting = 4074758.60 : 590809.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195414.01,3648.8580,N,-12158.9123,W,1,03,00.5,059.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195414.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195415.01,3648.8585,N,-12158.9131,W,1,03,00.5,059.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195415.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195416.01,3648.8591,N,-12158.9137,W,1,03,00.5,059.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195416.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 545.002665 : TerrainNav update at dvl time = 545.002665 : _navData-> (x,y) = (4074758.50, 590807.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195417.01,3648.8597,N,-12158.9144,W,1,03,00.5,060.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195417.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195418.01,3648.8603,N,-12158.9149,W,1,03,00.5,060.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195418.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 545.00 : 3.86 : Estimated East Bias at time = 545.00 : -3.67 : Estimated Depth Bias at time = 545.00 : -0.93 : Estimated northing and easting = 4074762.35 : 590803.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195419.01,3648.8609,N,-12158.9153,W,1,03,00.5,057.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195419.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195420.01,3648.8616,N,-12158.9155,W,1,03,00.5,058.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195420.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195421.01,3648.8622,N,-12158.9157,W,1,03,00.5,058.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195421.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 550.002322 : TerrainNav update at dvl time = 550.002322 : _navData-> (x,y) = (4074764.35, 590805.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 550.00 : 3.89 : Estimated East Bias at time = 550.00 : -3.68 : Estimated Depth Bias at time = 550.00 : -0.93 : Estimated northing and easting = 4074768.24 : 590801.32 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195422.01,3648.8629,N,-12158.9158,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195422.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195423.01,3648.8635,N,-12158.9158,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,195423.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195424.01,3648.8641,N,-12158.9158,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,195424.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195425.01,3648.8647,N,-12158.9157,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,195425.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195426.01,3648.8654,N,-12158.9156,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,195426.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 555.001980 : TerrainNav update at dvl time = 555.001980 : _navData-> (x,y) = (4074770.14, 590805.23) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 555.00 : 3.89 : Estimated East Bias at time = 555.00 : -3.68 : Estimated Depth Bias at time = 555.00 : -0.93 : Estimated northing and easting = 4074774.03 : 590801.55 : NMEA Update: $GPGGA,195427.01,3648.8660,N,-12158.9155,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195427.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195428.01,3648.8666,N,-12158.9154,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,195428.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195429.01,3648.8673,N,-12158.9153,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,195429.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195430.01,3648.8679,N,-12158.9152,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,195430.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195431.01,3648.8686,N,-12158.9152,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,195431.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 560.001637 : TerrainNav update at dvl time = 560.001637 : _navData-> (x,y) = (4074775.88, 590805.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : Estimated North Bias at time = 560.00 : 3.95 : Estimated East Bias at time = 560.00 : -3.67 : Estimated Depth Bias at time = 560.00 : -0.93 : Estimated northing and easting = 4074779.84 : 590802.09 : NMEA Update: $GPGGA,195432.01,3648.8688,N,-12158.9152,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195432.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195433.01,3648.8695,N,-12158.9152,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,195433.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195434.01,3648.8702,N,-12158.9152,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,195434.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195435.01,3648.8709,N,-12158.9152,W,1,03,00.5,051.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195435.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195436.01,3648.8717,N,-12158.9153,W,1,03,00.5,050.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195436.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 565.001295 : TerrainNav update at dvl time = 565.001295 : _navData-> (x,y) = (4074781.86, 590805.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195437.01,3648.8724,N,-12158.9154,W,1,03,00.5,050.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195437.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195438.01,3648.8731,N,-12158.9155,W,1,03,00.5,052.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195438.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 565.00 : 2.08 : Estimated East Bias at time = 565.00 : -3.59 : Estimated Depth Bias at time = 565.00 : -0.93 : Estimated northing and easting = 4074783.95 : 590801.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195439.01,3648.8738,N,-12158.9157,W,1,03,00.5,052.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195439.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195440.01,3648.8745,N,-12158.9159,W,1,03,00.5,051.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195440.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195441.01,3648.8753,N,-12158.9161,W,1,03,00.5,051.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195441.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4074788.55, 590804.08) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195442.01,3648.8760,N,-12158.9163,W,1,03,00.5,051.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195442.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195443.01,3648.8767,N,-12158.9165,W,1,03,00.5,051.3,M,-99.9,M,,*4a : Estimated North Bias at time = 570.00 : 0.64 : Estimated East Bias at time = 570.00 : -3.04 : Estimated Depth Bias at time = 570.00 : -0.93 : Estimated northing and easting = 4074789.19 : 590801.04 : AshtechGps::processRecord() - $GPGGA,195443.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195444.01,3648.8775,N,-12158.9168,W,1,03,00.5,050.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195444.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195445.00,3648.8782,N,-12158.9170,W,1,03,00.5,050.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195445.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195446.00,3648.8790,N,-12158.9173,W,1,03,00.5,051.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195446.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 575.000610 : TerrainNav update at dvl time = 575.000610 : _navData-> (x,y) = (4074795.44, 590802.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195447.00,3648.8797,N,-12158.9176,W,1,03,00.5,051.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195447.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : Estimated North Bias at time = 575.00 : -0.47 : Estimated East Bias at time = 575.00 : -2.55 : Estimated Depth Bias at time = 575.00 : -0.93 : Estimated northing and easting = 4074794.97 : 590799.55 : NMEA Update: $GPGGA,195448.00,3648.8805,N,-12158.9179,W,1,03,00.5,051.2,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195448.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195449.00,3648.8813,N,-12158.9182,W,1,03,00.5,051.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195449.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195450.00,3648.8820,N,-12158.9186,W,1,03,00.5,051.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195450.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195451.00,3648.8828,N,-12158.9189,W,1,03,00.5,052.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195451.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 580.000267 : TerrainNav update at dvl time = 580.000267 : _navData-> (x,y) = (4074802.50, 590799.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195452.00,3648.8836,N,-12158.9193,W,1,03,00.5,052.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195452.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195453.00,3648.8843,N,-12158.9196,W,1,03,00.5,052.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195453.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 580.00 : -2.55 : Estimated East Bias at time = 580.00 : -2.00 : Estimated Depth Bias at time = 580.00 : -0.93 : Estimated northing and easting = 4074799.95 : 590797.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195454.00,3648.8851,N,-12158.9200,W,1,03,00.5,052.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195454.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195455.00,3648.8859,N,-12158.9203,W,1,03,00.5,052.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195455.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195456.00,3648.8867,N,-12158.9207,W,1,03,00.5,052.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195456.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 584.999925 : TerrainNav update at dvl time = 584.999925 : _navData-> (x,y) = (4074809.61, 590796.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195457.00,3648.8874,N,-12158.9211,W,1,03,00.5,053.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195457.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195458.00,3648.8882,N,-12158.9214,W,1,03,00.5,053.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195458.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 585.00 : -4.11 : Estimated East Bias at time = 585.00 : -1.19 : Estimated Depth Bias at time = 585.00 : -0.93 : Estimated northing and easting = 4074805.50 : 590795.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195459.00,3648.8890,N,-12158.9218,W,1,03,00.5,053.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195459.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195500.00,3648.8897,N,-12158.9222,W,1,03,00.5,053.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195500.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195501.00,3648.8905,N,-12158.9226,W,1,03,00.5,054.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195501.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 589.999582 : TerrainNav update at dvl time = 589.999582 : _navData-> (x,y) = (4074816.65, 590794.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195502.00,3648.8913,N,-12158.9229,W,1,03,00.5,054.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195502.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195503.00,3648.8920,N,-12158.9233,W,1,03,00.5,054.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195503.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 590.00 : -4.90 : Estimated East Bias at time = 590.00 : -1.17 : Estimated Depth Bias at time = 590.00 : -0.93 : Estimated northing and easting = 4074811.75 : 590792.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195504.00,3648.8928,N,-12158.9237,W,1,03,00.5,055.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195504.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195505.00,3648.8936,N,-12158.9241,W,1,03,00.5,055.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195505.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195506.00,3648.8943,N,-12158.9244,W,1,03,00.5,055.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195506.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 594.999240 : TerrainNav update at dvl time = 594.999240 : _navData-> (x,y) = (4074823.73, 590791.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195507.00,3648.8951,N,-12158.9248,W,1,03,00.5,055.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195507.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195508.00,3648.8959,N,-12158.9252,W,1,03,00.5,056.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195508.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 595.00 : -5.82 : Estimated East Bias at time = 595.00 : -1.03 : Estimated Depth Bias at time = 595.00 : -0.93 : Estimated northing and easting = 4074817.91 : 590790.12 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195509.00,3648.8967,N,-12158.9256,W,1,03,00.5,055.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195509.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195510.00,3648.8974,N,-12158.9259,W,1,03,00.5,056.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195510.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195511.00,3648.8982,N,-12158.9263,W,1,03,00.5,056.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195511.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 599.998897 : TerrainNav update at dvl time = 599.998897 : _navData-> (x,y) = (4074830.91, 590788.26) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195512.00,3648.8990,N,-12158.9267,W,1,03,00.5,056.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195512.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195513.00,3648.8998,N,-12158.9271,W,1,03,00.5,056.9,M,-99.9,M,,*4a : Estimated North Bias at time = 600.00 : -6.28 : Estimated East Bias at time = 600.00 : -0.68 : AshtechGps::processRecord() - $GPGGA,195513.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated Depth Bias at time = 600.00 : -0.93 : Estimated northing and easting = 4074824.63 : 590787.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195514.00,3648.9006,N,-12158.9275,W,1,03,00.5,057.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195514.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195515.00,3648.9013,N,-12158.9279,W,1,03,00.5,057.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195515.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,195516.00,3648.9021,N,-12158.9283,W,1,03,00.5,059.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195516.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 604.998555 : TerrainNav update at dvl time = 604.998555 : _navData-> (x,y) = (4074838.06, 590785.27) : _tercom->outstandingMeas() = 0 : Waypoint has set the state to finished. : Waypoint (4074838.2, 590784.9), reached at t = 648.20 (wplog) : Vehicle Position is error is (-0.1, -0.2) : LayeredControl::execute() -- (t = 648.195596) Behavior waypoint:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 648.20 (wplog) The current location (N,E) = 4074838.3 , 590785.1 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 313.4 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 648.2 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 648.20 Seconds. : The vehicle position is (4074838.3, 590785.1) : LayeredControl::execute() -- (t = 648.205595) Behavior waypoint_homing:-1 has changed to state Active : NMEA Update: $GPGGA,195517.00,3648.9029,N,-12158.9287,W,1,03,00.5,058.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195517.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.55 horzlMode=2 horz=5.66 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195518.00,3648.9037,N,-12158.9291,W,1,03,00.5,058.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195518.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 605.00 : -6.39 : Estimated East Bias at time = 605.00 : -0.69 : Estimated Depth Bias at time = 605.00 : -0.93 : Estimated northing and easting = 4074831.67 : 590784.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195519.00,3648.9044,N,-12158.9295,W,1,03,00.5,058.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195519.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.21 horzlMode=2 horz=5.63 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195520.00,3648.9052,N,-12158.9299,W,1,03,00.5,058.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195520.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.59 horzlMode=2 horz=5.63 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195521.00,3648.9058,N,-12158.9304,W,1,03,00.5,058.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195521.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 609.998212 : TerrainNav update at dvl time = 609.998212 : _navData-> (x,y) = (4074844.80, 590781.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195522.00,3648.9065,N,-12158.9310,W,1,03,00.5,059.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195522.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.95 horzlMode=2 horz=5.63 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195523.00,3648.9071,N,-12158.9315,W,1,03,00.5,059.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195523.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 610.00 : -5.60 : Estimated East Bias at time = 610.00 : -1.20 : Estimated Depth Bias at time = 610.00 : -0.93 : Estimated northing and easting = 4074839.19 : 590780.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=219.97 horzlMode=2 horz=5.62 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195524.00,3648.9077,N,-12158.9321,W,1,03,00.5,058.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195524.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.29 horzlMode=2 horz=5.62 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195525.00,3648.9082,N,-12158.9327,W,1,03,00.5,058.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195525.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195526.00,3648.9087,N,-12158.9332,W,1,03,00.5,059.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195526.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.76 horzlMode=2 horz=5.63 speedMode=1 speed=1.00 : TerrainNav update at nav time = 614.997870 : TerrainNav update at dvl time = 614.997870 : _navData-> (x,y) = (4074849.77, 590777.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195527.00,3648.9091,N,-12158.9338,W,1,03,00.5,058.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195527.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=218.37 horzlMode=2 horz=5.63 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195528.00,3648.9096,N,-12158.9343,W,1,03,00.5,057.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195528.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 615.00 : -5.07 : Estimated East Bias at time = 615.00 : -1.66 : Estimated Depth Bias at time = 615.00 : -0.93 : Estimated northing and easting = 4074844.70 : 590775.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195529.00,3648.9100,N,-12158.9349,W,1,03,00.5,055.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195529.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.72 horzlMode=2 horz=5.64 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195530.00,3648.9105,N,-12158.9354,W,1,03,00.5,055.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195530.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.87 horzlMode=2 horz=5.64 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195531.00,3648.9109,N,-12158.9359,W,1,03,00.5,054.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195531.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 619.997527 : TerrainNav update at dvl time = 619.997527 : _navData-> (x,y) = (4074853.70, 590773.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=215.96 horzlMode=2 horz=5.64 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195532.00,3648.9113,N,-12158.9364,W,1,03,00.5,054.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195532.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195533.00,3648.9117,N,-12158.9369,W,1,03,00.5,054.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195533.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=215.94 horzlMode=2 horz=5.66 speedMode=1 speed=1.00 : Estimated North Bias at time = 620.00 : -5.09 : Estimated East Bias at time = 620.00 : -1.60 : Estimated Depth Bias at time = 620.00 : -0.93 : Estimated northing and easting = 4074848.62 : 590772.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195534.00,3648.9120,N,-12158.9373,W,1,03,00.5,053.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195534.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.24 horzlMode=2 horz=5.67 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195535.00,3648.9124,N,-12158.9378,W,1,03,00.5,053.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195535.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195536.00,3648.9128,N,-12158.9382,W,1,03,00.5,053.1,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=216.06 horzlMode=2 horz=5.69 speedMode=1 speed=1.00 : TerrainNav update at nav time = 624.997185 : TerrainNav update at dvl time = 624.997185 : _navData-> (x,y) = (4074857.17, 590770.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195537.00,3648.9131,N,-12158.9386,W,1,03,00.5,052.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195537.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.66 horzlMode=2 horz=5.70 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195538.00,3648.9135,N,-12158.9390,W,1,03,00.5,053.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195538.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 625.00 : -4.36 : Estimated East Bias at time = 625.00 : -1.41 : Estimated Depth Bias at time = 625.00 : -0.93 : Estimated northing and easting = 4074852.81 : 590768.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 670.19 Seconds. : The vehicle position is is (4074858.6, 590768.9) : LayeredControl _resolvedCommand - vertMode=2 vert=216.24 horzlMode=3 horz=5.70 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195539.00,3648.9139,N,-12158.9395,W,1,03,00.5,052.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195539.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 671.39 Seconds. : The vehicle position is (4074859.4, 590768.2) : NMEA Update: $GPGGA,195540.00,3648.9142,N,-12158.9399,W,1,03,00.5,052.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195540.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.32 horzlMode=2 horz=5.71 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195541.00,3648.9146,N,-12158.9402,W,1,03,00.5,052.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195541.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4074860.48, 590767.23) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=216.54 horzlMode=2 horz=5.72 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195542.00,3648.9150,N,-12158.9406,W,1,03,00.5,051.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195542.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195543.00,3648.9153,N,-12158.9410,W,1,03,00.5,052.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195543.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=217.20 horzlMode=2 horz=5.73 speedMode=1 speed=1.00 : Estimated North Bias at time = 630.00 : -4.50 : Estimated East Bias at time = 630.00 : -0.67 : Estimated Depth Bias at time = 630.00 : -0.92 : Estimated northing and easting = 4074855.99 : 590766.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195544.00,3648.9157,N,-12158.9414,W,1,03,00.5,052.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195544.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=217.70 horzlMode=2 horz=5.73 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195545.00,3648.9161,N,-12158.9417,W,1,03,00.5,051.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195545.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=217.82 horzlMode=2 horz=5.74 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195546.00,3648.9164,N,-12158.9421,W,1,03,00.5,051.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195546.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 634.996500 : TerrainNav update at dvl time = 634.996500 : _navData-> (x,y) = (4074863.85, 590764.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195547.00,3648.9168,N,-12158.9424,W,1,03,00.5,051.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195547.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.13 horzlMode=2 horz=5.76 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195548.00,3648.9171,N,-12158.9428,W,1,03,00.5,051.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195548.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 635.00 : -4.60 : Estimated East Bias at time = 635.00 : -0.51 : Estimated Depth Bias at time = 635.00 : -0.92 : Estimated northing and easting = 4074859.25 : 590763.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=218.62 horzlMode=2 horz=5.77 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195549.00,3648.9175,N,-12158.9431,W,1,03,00.5,051.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195549.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195550.00,3648.9179,N,-12158.9434,W,1,03,00.5,051.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195550.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.15 horzlMode=2 horz=5.77 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195551.00,3648.9182,N,-12158.9437,W,1,03,00.5,051.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195551.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.46 horzlMode=2 horz=5.78 speedMode=1 speed=1.00 : TerrainNav update at nav time = 639.996157 : TerrainNav update at dvl time = 639.996157 : _navData-> (x,y) = (4074867.08, 590762.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195552.00,3648.9186,N,-12158.9440,W,1,03,00.5,051.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195552.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.63 horzlMode=2 horz=5.78 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195553.00,3648.9189,N,-12158.9443,W,1,03,00.5,051.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195553.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 640.00 : -4.27 : Estimated East Bias at time = 640.00 : -0.79 : Estimated Depth Bias at time = 640.00 : -0.92 : Estimated northing and easting = 4074862.81 : 590761.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195554.00,3648.9193,N,-12158.9446,W,1,03,00.5,050.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195554.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=218.53 horzlMode=2 horz=5.78 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195555.00,3648.9196,N,-12158.9449,W,1,03,00.5,049.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195555.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=218.33 horzlMode=2 horz=5.79 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195556.00,3648.9199,N,-12158.9452,W,1,03,00.5,048.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195556.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 644.995815 : TerrainNav update at dvl time = 644.995815 : _navData-> (x,y) = (4074870.24, 590759.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195557.00,3648.9203,N,-12158.9456,W,1,03,00.5,050.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195557.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.51 horzlMode=2 horz=5.80 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195558.00,3648.9206,N,-12158.9458,W,1,03,00.5,048.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195558.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 645.00 : -4.27 : Estimated East Bias at time = 645.00 : -1.22 : Estimated Depth Bias at time = 645.00 : -0.92 : Estimated northing and easting = 4074865.98 : 590758.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=218.95 horzlMode=2 horz=5.80 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195559.00,3648.9210,N,-12158.9462,W,1,03,00.5,048.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195559.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.43 horzlMode=2 horz=5.80 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195560.00,3648.9213,N,-12158.9464,W,1,03,00.5,048.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195600.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195601.00,3648.9216,N,-12158.9468,W,1,03,00.5,048.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195601.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=220.02 horzlMode=2 horz=5.80 speedMode=1 speed=1.00 : TerrainNav update at nav time = 649.995472 : TerrainNav update at dvl time = 649.995472 : _navData-> (x,y) = (4074873.37, 590757.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195602.00,3648.9220,N,-12158.9471,W,1,03,00.5,048.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195602.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=220.68 horzlMode=2 horz=5.80 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195603.00,3648.9223,N,-12158.9473,W,1,03,00.5,048.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195603.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 650.00 : -4.47 : Estimated East Bias at time = 650.00 : -1.24 : Estimated Depth Bias at time = 650.00 : -0.92 : Estimated northing and easting = 4074868.91 : 590756.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195604.00,3648.9226,N,-12158.9476,W,1,03,00.5,047.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195604.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=220.56 horzlMode=2 horz=5.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195605.00,3648.9229,N,-12158.9479,W,1,03,00.5,047.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195605.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 696.79 Seconds. : The vehicle position is is (4074875.7, 590755.8) : LayeredControl _resolvedCommand - vertMode=2 vert=220.95 horzlMode=3 horz=5.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195606.00,3648.9233,N,-12158.9482,W,1,03,00.5,047.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195606.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 697.99 Seconds. : The vehicle position is (4074876.4, 590755.3) : TerrainNav update at nav time = 654.995130 : TerrainNav update at dvl time = 654.995130 : _navData-> (x,y) = (4074876.40, 590755.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=221.29 horzlMode=2 horz=5.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195607.00,3648.9236,N,-12158.9485,W,1,03,00.5,047.6,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,195608.00,3648.9240,N,-12158.9488,W,1,03,00.5,048.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195608.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 655.00 : -4.68 : Estimated East Bias at time = 655.00 : -0.75 : Estimated Depth Bias at time = 655.00 : -0.92 : Estimated northing and easting = 4074871.72 : 590754.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=222.00 horzlMode=2 horz=5.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195609.00,3648.9243,N,-12158.9490,W,1,03,00.5,048.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195609.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.88 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195610.00,3648.9246,N,-12158.9493,W,1,03,00.5,048.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195610.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195611.00,3648.9250,N,-12158.9496,W,1,03,00.5,048.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195611.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.39 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : TerrainNav update at nav time = 659.994787 : TerrainNav update at dvl time = 659.994787 : _navData-> (x,y) = (4074879.54, 590753.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195612.00,3648.9253,N,-12158.9499,W,1,03,00.5,047.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195612.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.81 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195613.00,3648.9256,N,-12158.9501,W,1,03,00.5,047.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195613.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 659.99 : -4.62 : Estimated East Bias at time = 659.99 : -0.71 : Estimated Depth Bias at time = 659.99 : -0.92 : Estimated northing and easting = 4074874.92 : 590752.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=223.31 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195614.00,3648.9260,N,-12158.9504,W,1,03,00.5,047.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195614.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195615.01,3648.9264,N,-12158.9508,W,1,03,00.5,047.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195615.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=224.29 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195616.01,3648.9267,N,-12158.9511,W,1,03,00.5,047.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195616.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 664.994445 : TerrainNav update at dvl time = 664.994445 : _navData-> (x,y) = (4074882.60, 590751.02) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=223.97 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195617.01,3648.9271,N,-12158.9514,W,1,03,00.5,046.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195617.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195618.01,3648.9274,N,-12158.9517,W,1,03,00.5,046.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195618.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 664.99 : -4.38 : Estimated East Bias at time = 664.99 : -0.54 : Estimated Depth Bias at time = 664.99 : -0.92 : Estimated northing and easting = 4074878.22 : 590750.48 : LayeredControl _resolvedCommand - vertMode=2 vert=224.45 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195619.01,3648.9277,N,-12158.9520,W,1,03,00.5,046.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195619.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=224.87 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195620.01,3648.9280,N,-12158.9523,W,1,03,00.5,046.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195620.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.85 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195621.01,3648.9284,N,-12158.9526,W,1,03,00.5,046.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195621.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 669.994102 : TerrainNav update at dvl time = 669.994102 : _navData-> (x,y) = (4074885.57, 590748.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195622.01,3648.9287,N,-12158.9529,W,1,03,00.5,046.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195622.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.56 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195623.01,3648.9290,N,-12158.9532,W,1,03,00.5,046.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195623.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 669.99 : -4.10 : Estimated East Bias at time = 669.99 : -0.52 : Estimated Depth Bias at time = 669.99 : -0.92 : Estimated northing and easting = 4074881.47 : 590748.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=226.13 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195624.01,3648.9294,N,-12158.9535,W,1,03,00.5,046.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195624.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195625.01,3648.9297,N,-12158.9538,W,1,03,00.5,046.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195625.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=226.63 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195626.01,3648.9300,N,-12158.9541,W,1,03,00.5,046.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195626.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=227.11 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : TerrainNav update at nav time = 674.993760 : TerrainNav update at dvl time = 674.993760 : _navData-> (x,y) = (4074888.70, 590746.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195627.01,3648.9304,N,-12158.9544,W,1,03,00.5,046.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195627.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.16 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195628.01,3648.9308,N,-12158.9546,W,1,03,00.5,047.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195628.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 674.99 : -3.89 : Estimated East Bias at time = 674.99 : -0.69 : Estimated Depth Bias at time = 674.99 : -0.92 : Estimated northing and easting = 4074884.81 : 590745.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195629.01,3648.9311,N,-12158.9549,W,1,03,00.5,046.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195629.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=227.85 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195630.01,3648.9315,N,-12158.9552,W,1,03,00.5,046.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195630.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.29 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195631.01,3648.9318,N,-12158.9556,W,1,03,00.5,046.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195631.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 679.993417 : TerrainNav update at dvl time = 679.993417 : _navData-> (x,y) = (4074891.93, 590744.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195632.01,3648.9322,N,-12158.9558,W,1,03,00.5,046.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195632.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.84 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195633.01,3648.9325,N,-12158.9561,W,1,03,00.5,046.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195633.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 679.99 : -3.74 : Estimated East Bias at time = 679.99 : -1.16 : Estimated Depth Bias at time = 679.99 : -0.92 : Estimated northing and easting = 4074888.20 : 590743.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=229.05 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195634.01,3648.9329,N,-12158.9564,W,1,03,00.5,045.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195634.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=229.39 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195635.01,3648.9332,N,-12158.9567,W,1,03,00.5,045.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195635.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195636.01,3648.9336,N,-12158.9569,W,1,03,00.5,045.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195636.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=229.88 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : TerrainNav update at nav time = 684.993075 : TerrainNav update at dvl time = 684.993075 : _navData-> (x,y) = (4074895.19, 590742.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195637.01,3648.9339,N,-12158.9572,W,1,03,00.5,045.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195637.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=229.86 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195638.01,3648.9343,N,-12158.9575,W,1,03,00.5,045.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195638.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 684.99 : -4.11 : Estimated East Bias at time = 684.99 : -1.60 : Estimated Depth Bias at time = 684.99 : -0.92 : Estimated northing and easting = 4074891.09 : 590740.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195639.01,3648.9346,N,-12158.9577,W,1,03,00.5,044.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195639.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=230.00 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195640.01,3648.9349,N,-12158.9580,W,1,03,00.5,044.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195640.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=230.00 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195641.01,3648.9353,N,-12158.9583,W,1,03,00.5,044.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195641.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4074898.45, 590740.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=230.00 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195642.01,3648.9356,N,-12158.9585,W,1,03,00.5,044.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195642.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195643.01,3648.9360,N,-12158.9588,W,1,03,00.5,044.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195643.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 690.00 : -4.02 : Estimated East Bias at time = 690.00 : -2.23 : Estimated Depth Bias at time = 690.00 : -0.92 : Estimated northing and easting = 4074894.43 : 590737.91 : LayeredControl _resolvedCommand - vertMode=2 vert=230.00 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195644.01,3648.9363,N,-12158.9591,W,1,03,00.5,044.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195644.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=230.00 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195645.01,3648.9367,N,-12158.9594,W,1,03,00.5,043.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195645.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195646.01,3648.9370,N,-12158.9597,W,1,03,00.5,043.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195646.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=230.00 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : TerrainNav update at nav time = 695.002389 : TerrainNav update at dvl time = 695.002389 : _navData-> (x,y) = (4074901.66, 590738.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195647.01,3648.9374,N,-12158.9600,W,1,03,00.5,043.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195647.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=230.00 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195648.01,3648.9377,N,-12158.9602,W,1,03,00.5,042.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195648.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 695.00 : -4.37 : Estimated East Bias at time = 695.00 : -2.41 : Estimated Depth Bias at time = 695.00 : -0.92 : Estimated northing and easting = 4074897.29 : 590735.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=230.00 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195649.01,3648.9381,N,-12158.9605,W,1,03,00.5,043.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195649.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4075037.9, 590670.2), reached at t = 741.00 (wplog) : Vehicle Position error is (134.4, -66.6) : The distance to the waypoint is 149.9. : LayeredControl::execute() -- (t = 740.999238) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 741.00 (wplog) The current location (N,E) = 4074903.5 , 590736.7 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 304.6 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 741.0 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 741.01 Seconds. : The vehicle position is (4074903.5, 590736.7) : LayeredControl::execute() -- (t = 741.009238) Behavior waypoint_homing:-1 has changed to state Active : NMEA Update: $GPGGA,195650.01,3648.9384,N,-12158.9608,W,1,03,00.5,042.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195650.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.02 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195651.01,3648.9388,N,-12158.9611,W,1,03,00.5,042.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195651.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 700.002047 : TerrainNav update at dvl time = 700.002047 : _navData-> (x,y) = (4074904.80, 590735.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=232.75 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195652.01,3648.9391,N,-12158.9614,W,1,03,00.5,042.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195652.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195653.01,3648.9394,N,-12158.9616,W,1,03,00.5,042.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195653.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.04 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : Estimated North Bias at time = 700.00 : -4.92 : Estimated East Bias at time = 700.00 : -2.57 : Estimated Depth Bias at time = 700.00 : -0.92 : Estimated northing and easting = 4074899.88 : 590733.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195654.01,3648.9398,N,-12158.9619,W,1,03,00.5,042.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195654.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.66 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195655.01,3648.9401,N,-12158.9622,W,1,03,00.5,042.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195655.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.45 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195656.01,3648.9405,N,-12158.9624,W,1,03,00.5,041.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195656.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 705.001704 : TerrainNav update at dvl time = 705.001704 : _navData-> (x,y) = (4074907.98, 590733.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195657.01,3648.9408,N,-12158.9627,W,1,03,00.5,042.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195657.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=234.71 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195658.01,3648.9412,N,-12158.9630,W,1,03,00.5,042.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195658.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 705.00 : -5.33 : Estimated East Bias at time = 705.00 : -2.84 : Estimated Depth Bias at time = 705.00 : -0.92 : Estimated northing and easting = 4074902.65 : 590731.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=234.58 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195659.01,3648.9415,N,-12158.9632,W,1,03,00.5,041.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195659.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195700.01,3648.9419,N,-12158.9635,W,1,03,00.5,042.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195700.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=235.13 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195701.01,3648.9422,N,-12158.9638,W,1,03,00.5,041.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195701.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=235.39 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : TerrainNav update at nav time = 710.001362 : TerrainNav update at dvl time = 710.001362 : _navData-> (x,y) = (4074911.17, 590731.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195702.01,3648.9426,N,-12158.9640,W,1,03,00.5,041.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195702.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=235.81 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195703.01,3648.9429,N,-12158.9643,W,1,03,00.5,041.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195703.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 710.00 : -5.72 : Estimated East Bias at time = 710.00 : -3.03 : Estimated Depth Bias at time = 710.00 : -0.92 : Estimated northing and easting = 4074905.44 : 590728.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195704.01,3648.9432,N,-12158.9646,W,1,03,00.5,041.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195704.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.31 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195705.01,3648.9436,N,-12158.9649,W,1,03,00.5,041.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195705.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.07 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195706.01,3648.9439,N,-12158.9651,W,1,03,00.5,041.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195706.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 715.001019 : TerrainNav update at dvl time = 715.001019 : _navData-> (x,y) = (4074914.32, 590729.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195707.01,3648.9443,N,-12158.9654,W,1,03,00.5,041.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195707.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.57 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195708.01,3648.9446,N,-12158.9657,W,1,03,00.5,041.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195708.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 715.00 : -6.15 : Estimated East Bias at time = 715.00 : -2.71 : Estimated Depth Bias at time = 715.00 : -0.92 : Estimated northing and easting = 4074908.17 : 590727.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=237.74 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195709.01,3648.9450,N,-12158.9660,W,1,03,00.5,041.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195709.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.66 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195710.01,3648.9453,N,-12158.9662,W,1,03,00.5,040.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195710.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195711.00,3648.9457,N,-12158.9665,W,1,03,00.5,041.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195711.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.25 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : TerrainNav update at nav time = 720.000677 : TerrainNav update at dvl time = 720.000677 : _navData-> (x,y) = (4074917.48, 590727.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195712.00,3648.9460,N,-12158.9668,W,1,03,00.5,040.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195712.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.96 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195713.00,3648.9463,N,-12158.9671,W,1,03,00.5,040.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195713.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 720.00 : -6.65 : Estimated East Bias at time = 720.00 : -2.67 : Estimated Depth Bias at time = 720.00 : -0.92 : Estimated northing and easting = 4074910.83 : 590725.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195714.00,3648.9467,N,-12158.9673,W,1,03,00.5,039.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195714.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=238.16 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195715.00,3648.9470,N,-12158.9676,W,1,03,00.5,040.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195715.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=238.25 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195716.00,3648.9473,N,-12158.9679,W,1,03,00.5,039.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195716.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 725.000334 : TerrainNav update at dvl time = 725.000334 : _navData-> (x,y) = (4074920.57, 590725.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=238.60 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195717.00,3648.9477,N,-12158.9681,W,1,03,00.5,039.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195717.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195718.00,3648.9480,N,-12158.9684,W,1,03,00.5,039.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195718.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 725.00 : -6.76 : Estimated East Bias at time = 725.00 : -2.64 : Estimated Depth Bias at time = 725.00 : -0.92 : Estimated northing and easting = 4074913.81 : 590722.99 : LayeredControl _resolvedCommand - vertMode=2 vert=239.09 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195719.00,3648.9483,N,-12158.9687,W,1,03,00.5,039.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195719.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=239.54 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195720.00,3648.9486,N,-12158.9690,W,1,03,00.5,039.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195720.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195721.00,3648.9490,N,-12158.9693,W,1,03,00.5,039.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195721.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=240.06 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : TerrainNav update at nav time = 729.999992 : TerrainNav update at dvl time = 729.999992 : _navData-> (x,y) = (4074923.53, 590723.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195722.00,3648.9493,N,-12158.9695,W,1,03,00.5,039.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195722.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=240.03 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195723.00,3648.9496,N,-12158.9698,W,1,03,00.5,039.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195723.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 730.00 : -5.37 : Estimated East Bias at time = 730.00 : -3.13 : Estimated Depth Bias at time = 730.00 : -0.92 : Estimated northing and easting = 4074918.16 : 590720.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=240.94 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195724.00,3648.9499,N,-12158.9701,W,1,03,00.5,038.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195724.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195725.00,3648.9502,N,-12158.9704,W,1,03,00.5,039.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195725.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=241.84 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195726.00,3648.9505,N,-12158.9707,W,1,03,00.5,038.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195726.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 734.999649 : TerrainNav update at dvl time = 734.999649 : _navData-> (x,y) = (4074926.40, 590721.27) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=241.93 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195727.00,3648.9508,N,-12158.9710,W,1,03,00.5,038.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195727.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195728.00,3648.9512,N,-12158.9713,W,1,03,00.5,039.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195728.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=242.72 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : Estimated North Bias at time = 735.00 : -4.25 : Estimated East Bias at time = 735.00 : -3.40 : Estimated Depth Bias at time = 735.00 : -0.92 : Estimated northing and easting = 4074922.14 : 590717.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195729.00,3648.9515,N,-12158.9716,W,1,03,00.5,039.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195729.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=242.96 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195730.00,3648.9518,N,-12158.9719,W,1,03,00.5,038.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195730.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=243.88 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195731.00,3648.9521,N,-12158.9722,W,1,03,00.5,039.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195731.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 739.999307 : TerrainNav update at dvl time = 739.999307 : _navData-> (x,y) = (4074929.26, 590719.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195732.00,3648.9524,N,-12158.9725,W,1,03,00.5,038.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195732.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=243.34 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195733.00,3648.9527,N,-12158.9728,W,1,03,00.5,038.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195733.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 740.00 : -3.15 : Estimated East Bias at time = 740.00 : -3.77 : Estimated Depth Bias at time = 740.00 : -0.92 : Estimated northing and easting = 4074926.11 : 590715.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=244.59 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195734.00,3648.9530,N,-12158.9731,W,1,03,00.5,037.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195734.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195735.00,3648.9533,N,-12158.9734,W,1,03,00.5,038.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195735.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=244.92 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195736.00,3648.9536,N,-12158.9737,W,1,03,00.5,038.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195736.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=244.76 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : TerrainNav update at nav time = 744.998964 : TerrainNav update at dvl time = 744.998964 : _navData-> (x,y) = (4074932.08, 590716.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195737.00,3648.9539,N,-12158.9740,W,1,03,00.5,037.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195737.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=245.34 horzlMode=2 horz=5.88 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195738.00,3648.9542,N,-12158.9743,W,1,03,00.5,037.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195738.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 745.00 : -2.69 : Estimated East Bias at time = 745.00 : -3.66 : Estimated Depth Bias at time = 745.00 : -0.92 : Estimated northing and easting = 4074929.39 : 590713.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195739.00,3648.9546,N,-12158.9745,W,1,03,00.5,038.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195739.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=245.77 horzlMode=2 horz=5.88 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195740.00,3648.9549,N,-12158.9748,W,1,03,00.5,037.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195740.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=246.06 horzlMode=2 horz=5.88 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195741.00,3648.9552,N,-12158.9751,W,1,03,00.5,037.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195741.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 749.998622 : TerrainNav update at dvl time = 749.998622 : _navData-> (x,y) = (4074934.89, 590714.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195742.00,3648.9555,N,-12158.9754,W,1,03,00.5,037.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195742.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=246.85 horzlMode=2 horz=5.89 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195743.00,3648.9558,N,-12158.9757,W,1,03,00.5,037.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195743.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 750.00 : -1.30 : Estimated East Bias at time = 750.00 : -3.49 : Estimated Depth Bias at time = 750.00 : -0.92 : Estimated northing and easting = 4074933.60 : 590711.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=247.05 horzlMode=2 horz=5.89 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195744.00,3648.9561,N,-12158.9760,W,1,03,00.5,037.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195744.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=247.43 horzlMode=2 horz=5.89 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195745.00,3648.9564,N,-12158.9762,W,1,03,00.5,037.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195745.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195746.00,3648.9567,N,-12158.9765,W,1,03,00.5,037.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195746.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=247.89 horzlMode=2 horz=5.90 speedMode=1 speed=1.00 : TerrainNav update at nav time = 754.998279 : TerrainNav update at dvl time = 754.998279 : _navData-> (x,y) = (4074937.75, 590712.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195747.00,3648.9570,N,-12158.9768,W,1,03,00.5,037.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195747.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=248.28 horzlMode=2 horz=5.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195748.00,3648.9573,N,-12158.9771,W,1,03,00.5,037.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195748.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 755.00 : 0.07 : Estimated East Bias at time = 755.00 : -3.45 : Estimated Depth Bias at time = 755.00 : -0.92 : Estimated northing and easting = 4074937.82 : 590709.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195749.00,3648.9577,N,-12158.9773,W,1,03,00.5,037.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195749.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=249.00 horzlMode=2 horz=5.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195750.00,3648.9580,N,-12158.9776,W,1,03,00.5,036.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195750.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=249.14 horzlMode=2 horz=5.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195751.00,3648.9583,N,-12158.9779,W,1,03,00.5,036.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195751.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 759.997936 : TerrainNav update at dvl time = 759.997936 : _navData-> (x,y) = (4074940.62, 590710.57) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=249.14 horzlMode=2 horz=5.91 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195752.00,3648.9586,N,-12158.9781,W,1,03,00.5,036.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195752.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195753.00,3648.9589,N,-12158.9784,W,1,03,00.5,036.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195753.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 760.00 : 1.30 : Estimated East Bias at time = 760.00 : -3.49 : Estimated Depth Bias at time = 760.00 : -0.92 : Estimated northing and easting = 4074941.92 : 590707.08 : LayeredControl _resolvedCommand - vertMode=2 vert=249.66 horzlMode=2 horz=5.91 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195754.00,3648.9592,N,-12158.9787,W,1,03,00.5,036.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195754.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=249.88 horzlMode=2 horz=5.91 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195755.00,3648.9595,N,-12158.9789,W,1,03,00.5,036.3,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,195756.00,3648.9598,N,-12158.9792,W,1,03,00.5,036.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195756.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.92 speedMode=1 speed=1.00 : TerrainNav update at nav time = 764.997594 : TerrainNav update at dvl time = 764.997594 : _navData-> (x,y) = (4074943.42, 590708.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195757.00,3648.9601,N,-12158.9795,W,1,03,00.5,036.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195757.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.92 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195758.00,3648.9604,N,-12158.9798,W,1,03,00.5,036.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195758.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 765.00 : 2.95 : Estimated East Bias at time = 765.00 : -3.41 : Estimated Depth Bias at time = 765.00 : -0.93 : Estimated northing and easting = 4074946.37 : 590705.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.92 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195759.00,3648.9607,N,-12158.9801,W,1,03,00.5,036.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195759.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195800.00,3648.9611,N,-12158.9803,W,1,03,00.5,036.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195800.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.93 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195801.00,3648.9614,N,-12158.9806,W,1,03,00.5,036.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195801.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 769.997252 : TerrainNav update at dvl time = 769.997252 : _navData-> (x,y) = (4074946.26, 590706.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.93 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195802.00,3648.9617,N,-12158.9809,W,1,03,00.5,035.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195802.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195803.00,3648.9620,N,-12158.9812,W,1,03,00.5,035.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195803.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.93 speedMode=1 speed=1.00 : Estimated North Bias at time = 770.00 : 4.76 : Estimated East Bias at time = 770.00 : -3.07 : Estimated Depth Bias at time = 770.00 : -0.93 : Estimated northing and easting = 4074951.01 : 590703.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195804.00,3648.9623,N,-12158.9815,W,1,03,00.5,035.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195804.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.94 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195805.00,3648.9626,N,-12158.9817,W,1,03,00.5,035.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195805.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.94 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195806.00,3648.9629,N,-12158.9820,W,1,03,00.5,035.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195806.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 774.996909 : TerrainNav update at dvl time = 774.996909 : _navData-> (x,y) = (4074949.13, 590704.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195807.00,3648.9632,N,-12158.9823,W,1,03,00.5,036.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195807.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.94 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195808.00,3648.9636,N,-12158.9826,W,1,03,00.5,035.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195808.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 775.00 : 6.29 : Estimated East Bias at time = 775.00 : -3.28 : Estimated Depth Bias at time = 775.00 : -0.93 : Estimated northing and easting = 4074955.42 : 590701.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.95 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195809.00,3648.9639,N,-12158.9828,W,1,03,00.5,035.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195809.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195810.00,3648.9642,N,-12158.9831,W,1,03,00.5,034.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195810.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.95 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195811.00,3648.9645,N,-12158.9833,W,1,03,00.5,035.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195811.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.96 speedMode=1 speed=1.00 : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4074952.01, 590702.28) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195812.00,3648.9648,N,-12158.9836,W,1,03,00.5,035.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195812.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.97 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195813.00,3648.9651,N,-12158.9839,W,1,03,00.5,035.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195813.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 780.00 : 7.33 : Estimated East Bias at time = 780.00 : -2.99 : Estimated Depth Bias at time = 780.00 : -0.93 : Estimated northing and easting = 4074959.34 : 590699.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195814.00,3648.9654,N,-12158.9841,W,1,03,00.5,035.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195814.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.97 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195815.00,3648.9658,N,-12158.9844,W,1,03,00.5,035.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195815.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.97 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195816.00,3648.9661,N,-12158.9846,W,1,03,00.5,035.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195816.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 784.996224 : TerrainNav update at dvl time = 784.996224 : _navData-> (x,y) = (4074954.93, 590700.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195817.00,3648.9664,N,-12158.9849,W,1,03,00.5,034.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195817.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195818.00,3648.9667,N,-12158.9851,W,1,03,00.5,034.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195818.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 785.00 : 8.60 : Estimated East Bias at time = 785.00 : -2.92 : Estimated Depth Bias at time = 785.00 : -0.93 : Estimated northing and easting = 4074963.52 : 590697.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195819.00,3648.9670,N,-12158.9854,W,1,03,00.5,034.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195819.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195820.00,3648.9674,N,-12158.9857,W,1,03,00.5,034.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195820.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195821.00,3648.9677,N,-12158.9859,W,1,03,00.5,034.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195821.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.98 speedMode=1 speed=1.00 : TerrainNav update at nav time = 789.995882 : TerrainNav update at dvl time = 789.995882 : _navData-> (x,y) = (4074957.87, 590698.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195822.00,3648.9680,N,-12158.9862,W,1,03,00.5,033.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195822.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.99 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195823.00,3648.9683,N,-12158.9864,W,1,03,00.5,034.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195823.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 790.00 : 9.57 : Estimated East Bias at time = 790.00 : -2.69 : Estimated Depth Bias at time = 790.00 : -0.93 : Estimated northing and easting = 4074967.44 : 590695.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195824.00,3648.9686,N,-12158.9867,W,1,03,00.5,034.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195824.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.99 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195825.00,3648.9690,N,-12158.9869,W,1,03,00.5,033.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195825.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=5.99 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195826.00,3648.9693,N,-12158.9872,W,1,03,00.5,034.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195826.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4075032.7, 590675.3), reached at t = 837.99 (wplog) : Vehicle Position error is (71.9, -21.2) : The distance to the waypoint is 74.9. : LayeredControl::execute() -- (t = 837.992594) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 837.99. : LayeredControl::execute() -- (t = 837.992594) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 838.00 (wplog) The current location (N,E) = 4074960.8 , 590696.5 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 261.6 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 838.0 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 838.00 Seconds. : The vehicle position is (4074960.8, 590696.5) : LayeredControl::execute() -- (t = 838.002593) Behavior waypoint_homing:-1 has changed to state Active : CameraDriver::readData - starting a 15 photo sequence. : TerrainNav update at nav time = 794.995539 : TerrainNav update at dvl time = 794.995539 : _navData-> (x,y) = (4074960.79, 590696.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=4.57 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195827.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : AshtechGps::processRecord() - $GPGGA,195828.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 795.00 : 10.46 : Estimated East Bias at time = 795.00 : -2.72 : Estimated Depth Bias at time = 795.00 : -0.93 : Estimated northing and easting = 4074971.25 : 590693.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.01 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195828.80,3648.9702,N,-12158.9879,W,1,03,00.5,033.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195829.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.01 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195829.80,3648.9705,N,-12158.9881,W,1,03,00.5,033.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195830.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195830.80,3648.9708,N,-12158.9884,W,1,03,00.5,033.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195831.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.01 speedMode=1 speed=1.00 : TerrainNav update at nav time = 799.995197 : TerrainNav update at dvl time = 799.995197 : _navData-> (x,y) = (4074963.65, 590694.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195831.80,3648.9711,N,-12158.9886,W,1,03,00.5,033.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195832.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.02 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195832.80,3648.9714,N,-12158.9889,W,1,03,00.5,033.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195833.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 800.00 : 10.88 : Estimated East Bias at time = 800.00 : -3.19 : Estimated Depth Bias at time = 800.00 : -0.93 : Estimated northing and easting = 4074974.53 : 590691.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195833.80,3648.9717,N,-12158.9891,W,1,03,00.5,034.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.02 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195834.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195834.80,3648.9720,N,-12158.9894,W,1,03,00.5,034.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195835.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195835.80,3648.9724,N,-12158.9896,W,1,03,00.5,034.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195836.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 804.994854 : TerrainNav update at dvl time = 804.994854 : _navData-> (x,y) = (4074966.61, 590692.80) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195836.80,3648.9727,N,-12158.9898,W,1,03,00.5,034.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195837.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195837.80,3648.9730,N,-12158.9901,W,1,03,00.5,035.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195838.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 804.99 : 12.50 : Estimated East Bias at time = 804.99 : -3.48 : Estimated Depth Bias at time = 804.99 : -0.93 : Estimated northing and easting = 4074979.11 : 590689.32 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.04 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195838.80,3648.9734,N,-12158.9903,W,1,03,00.5,035.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195839.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.04 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195839.80,3648.9737,N,-12158.9905,W,1,03,00.5,035.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195840.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195840.80,3648.9741,N,-12158.9908,W,1,03,00.5,036.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.06 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195841.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 809.994512 : TerrainNav update at dvl time = 809.994512 : _navData-> (x,y) = (4074969.84, 590691.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195841.61,3648.9745,N,-12158.9910,W,1,03,00.5,036.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195842.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.06 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195842.61,3648.9748,N,-12158.9913,W,1,03,00.5,036.6,M,-99.9,M,,*40 : Estimated North Bias at time = 809.99 : 13.98 : AshtechGps::processRecord() - $GPGGA,195843.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 809.99 : -4.23 : Estimated Depth Bias at time = 809.99 : -0.93 : Estimated northing and easting = 4074983.83 : 590686.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195843.61,3648.9752,N,-12158.9915,W,1,03,00.5,036.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.07 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195844.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195844.61,3648.9756,N,-12158.9917,W,1,03,00.5,036.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195845.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.08 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195845.61,3648.9760,N,-12158.9920,W,1,03,00.5,036.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195846.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.08 speedMode=1 speed=1.00 : TerrainNav update at nav time = 814.994169 : TerrainNav update at dvl time = 814.994169 : _navData-> (x,y) = (4074973.27, 590689.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195846.61,3648.9763,N,-12158.9922,W,1,03,00.5,037.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195847.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195847.61,3648.9767,N,-12158.9924,W,1,03,00.5,037.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.09 speedMode=1 speed=1.00 : Estimated North Bias at time = 814.99 : 16.29 : Estimated East Bias at time = 814.99 : -4.67 : Estimated Depth Bias at time = 814.99 : -0.93 : Estimated northing and easting = 4074989.56 : 590684.53 : AshtechGps::processRecord() - $GPGGA,195848.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195848.61,3648.9771,N,-12158.9927,W,1,03,00.5,036.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195849.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.09 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195849.61,3648.9775,N,-12158.9929,W,1,03,00.5,037.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195850.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195850.61,3648.9779,N,-12158.9931,W,1,03,00.5,037.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.09 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195851.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 819.993827 : TerrainNav update at dvl time = 819.993827 : _navData-> (x,y) = (4074976.81, 590687.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195851.61,3648.9783,N,-12158.9934,W,1,03,00.5,037.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195852.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.10 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195852.61,3648.9787,N,-12158.9936,W,1,03,00.5,037.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195853.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 819.99 : 18.13 : Estimated East Bias at time = 819.99 : -4.83 : Estimated Depth Bias at time = 819.99 : -0.93 : Estimated northing and easting = 4074994.94 : 590682.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.10 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195853.61,3648.9790,N,-12158.9938,W,1,03,00.5,037.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,195854.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195854.61,3648.9794,N,-12158.9941,W,1,03,00.5,037.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.11 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195855.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195855.61,3648.9798,N,-12158.9943,W,1,03,00.5,038.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195856.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.12 speedMode=1 speed=1.00 : TerrainNav update at nav time = 824.993484 : TerrainNav update at dvl time = 824.993484 : _navData-> (x,y) = (4074980.47, 590685.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195856.61,3648.9803,N,-12158.9946,W,1,03,00.5,038.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195857.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195857.61,3648.9807,N,-12158.9948,W,1,03,00.5,038.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195858.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 824.99 : 16.69 : Estimated East Bias at time = 824.99 : -5.56 : Estimated Depth Bias at time = 824.99 : -0.94 : Estimated northing and easting = 4074997.17 : 590680.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195858.61,3648.9811,N,-12158.9951,W,1,03,00.5,039.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195859.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.15 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195859.61,3648.9815,N,-12158.9953,W,1,03,00.5,038.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195900.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.15 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195900.61,3648.9819,N,-12158.9955,W,1,03,00.5,039.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195901.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 829.993142 : TerrainNav update at dvl time = 829.993142 : _navData-> (x,y) = (4074984.20, 590683.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195901.61,3648.9823,N,-12158.9958,W,1,03,00.5,039.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.15 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195902.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195902.61,3648.9827,N,-12158.9960,W,1,03,00.5,039.3,M,-99.9,M,,*4d : Estimated North Bias at time = 829.99 : 15.36 : Estimated East Bias at time = 829.99 : -6.28 : Estimated Depth Bias at time = 829.99 : -0.94 : Estimated northing and easting = 4074999.56 : 590677.49 : AshtechGps::processRecord() - $GPGGA,195903.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195903.61,3648.9831,N,-12158.9962,W,1,03,00.5,039.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195904.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 875.80 Seconds. : The vehicle position is is (4074986.3, 590682.8) : NMEA Update: $GPGGA,195904.61,3648.9834,N,-12158.9964,W,1,03,00.5,040.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=6.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195905.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 876.80 Seconds. : The vehicle position is (4074987.1, 590682.5) : NMEA Update: $GPGGA,195905.61,3648.9838,N,-12158.9966,W,1,03,00.5,040.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195906.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.19 speedMode=1 speed=1.00 : TerrainNav update at nav time = 835.002798 : TerrainNav update at dvl time = 835.002798 : _navData-> (x,y) = (4074987.99, 590682.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195906.61,3648.9843,N,-12158.9968,W,1,03,00.5,040.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195907.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 878.80 Seconds. : The vehicle position is is (4074988.6, 590681.9) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=6.22 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195907.61,3648.9847,N,-12158.9970,W,1,03,00.5,040.5,M,-99.9,M,,*47 : Estimated North Bias at time = 835.00 : 12.51 : Estimated East Bias at time = 835.00 : -7.29 : Estimated Depth Bias at time = 835.00 : -0.93 : Estimated northing and easting = 4075000.50 : 590674.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195908.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195908.61,3648.9851,N,-12158.9972,W,1,03,00.5,040.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=6.22 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195909.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195909.61,3648.9855,N,-12158.9974,W,1,03,00.5,040.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195910.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=6.22 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195910.61,3648.9859,N,-12158.9975,W,1,03,00.5,041.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,195911.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 882.80 Seconds. : The vehicle position is (4074991.7, 590680.9) : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4074991.90, 590680.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195911.61,3648.9864,N,-12158.9976,W,1,03,00.5,041.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=6.26 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195912.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195912.61,3648.9868,N,-12158.9977,W,1,03,00.5,041.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195913.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 840.00 : 8.67 : Estimated East Bias at time = 840.00 : -8.55 : Estimated Depth Bias at time = 840.00 : -0.93 : Estimated northing and easting = 4075000.56 : 590672.34 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.01 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 884.80 Seconds. : The vehicle position is is (4074993.3, 590680.6) : NMEA Update: $GPGGA,195913.61,3648.9872,N,-12158.9978,W,1,03,00.5,041.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195914.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.01 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195914.61,3648.9877,N,-12158.9979,W,1,03,00.5,041.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195915.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195915.61,3648.9881,N,-12158.9979,W,1,03,00.5,041.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.01 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195916.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 887.80 Seconds. : The vehicle position is (4074995.7, 590680.3) : TerrainNav update at nav time = 845.002113 : TerrainNav update at dvl time = 845.002113 : _navData-> (x,y) = (4074995.83, 590680.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195916.61,3648.9885,N,-12158.9980,W,1,03,00.5,042.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,195917.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.04 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195917.61,3648.9889,N,-12158.9980,W,1,03,00.5,042.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195918.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 845.00 : 7.20 : Estimated East Bias at time = 845.00 : -9.28 : Estimated Depth Bias at time = 845.00 : -0.93 : Estimated northing and easting = 4075003.03 : 590671.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195918.61,3648.9894,N,-12158.9981,W,1,03,00.5,042.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.06 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195919.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195919.61,3648.9898,N,-12158.9981,W,1,03,00.5,041.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195920.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.04 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 891.80 Seconds. : The vehicle position is is (4074998.8, 590680.0) : NMEA Update: $GPGGA,195920.61,3648.9902,N,-12158.9981,W,1,03,00.5,041.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195921.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 892.80 Seconds. : The vehicle position is (4074999.6, 590680.0) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.05 speedMode=1 speed=1.00 : TerrainNav update at nav time = 850.001771 : TerrainNav update at dvl time = 850.001771 : _navData-> (x,y) = (4074999.73, 590679.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195921.61,3648.9906,N,-12158.9982,W,1,03,00.5,042.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195922.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195922.61,3648.9910,N,-12158.9983,W,1,03,00.5,041.7,M,-99.9,M,,*4c : Estimated North Bias at time = 850.00 : 5.57 : Estimated East Bias at time = 850.00 : -9.99 : Estimated Depth Bias at time = 850.00 : -0.93 : Estimated northing and easting = 4075005.29 : 590669.95 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.05 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195923.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195923.61,3648.9915,N,-12158.9983,W,1,03,00.5,042.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,195924.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 895.80 Seconds. : The vehicle position is is (4075001.9, 590679.7) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195924.61,3648.9919,N,-12158.9984,W,1,03,00.5,041.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195925.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195925.61,3648.9923,N,-12158.9985,W,1,03,00.5,041.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195926.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 855.001428 : TerrainNav update at dvl time = 855.001428 : _navData-> (x,y) = (4075003.64, 590679.36) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195926.61,3648.9927,N,-12158.9986,W,1,03,00.5,042.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195927.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195927.61,3648.9932,N,-12158.9986,W,1,03,00.5,042.2,M,-99.9,M,,*4a : Estimated North Bias at time = 855.00 : 1.19 : Estimated East Bias at time = 855.00 : -11.07 : Estimated Depth Bias at time = 855.00 : -0.92 : Estimated northing and easting = 4075004.83 : 590668.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195928.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195928.61,3648.9936,N,-12158.9987,W,1,03,00.5,042.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195929.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195929.61,3648.9940,N,-12158.9988,W,1,03,00.5,042.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195930.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195930.61,3648.9945,N,-12158.9988,W,1,03,00.5,042.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,195931.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : TerrainNav update at nav time = 860.001086 : TerrainNav update at dvl time = 860.001086 : _navData-> (x,y) = (4075007.65, 590678.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195931.61,3648.9949,N,-12158.9988,W,1,03,00.5,043.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195932.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195932.61,3648.9953,N,-12158.9988,W,1,03,00.5,043.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : Estimated North Bias at time = 860.00 : -1.12 : Estimated East Bias at time = 860.00 : -11.82 : Estimated Depth Bias at time = 860.00 : -0.92 : Estimated northing and easting = 4075006.54 : 590667.08 : AshtechGps::processRecord() - $GPGGA,195933.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,195933.61,3648.9958,N,-12158.9988,W,1,03,00.5,044.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,195934.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 905.60 Seconds. : The vehicle position is (4075009.7, 590678.9) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.12 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195934.61,3648.9962,N,-12158.9988,W,1,03,00.5,043.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195935.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195935.61,3648.9966,N,-12158.9988,W,1,03,00.5,043.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195936.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 865.000743 : TerrainNav update at dvl time = 865.000743 : _navData-> (x,y) = (4075011.64, 590679.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195936.60,3648.9971,N,-12158.9987,W,1,03,00.5,043.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.16 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195937.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195937.60,3648.9975,N,-12158.9987,W,1,03,00.5,043.1,M,-99.9,M,,*4a : Estimated North Bias at time = 865.00 : -3.33 : Estimated East Bias at time = 865.00 : -12.34 : Estimated Depth Bias at time = 865.00 : -0.92 : Estimated northing and easting = 4075008.31 : 590666.67 : AshtechGps::processRecord() - $GPGGA,195938.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.18 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195938.60,3648.9979,N,-12158.9986,W,1,03,00.5,044.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,195939.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195939.60,3648.9983,N,-12158.9986,W,1,03,00.5,043.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.28 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195940.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195940.60,3648.9988,N,-12158.9985,W,1,03,00.5,043.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,195941.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.27 speedMode=1 speed=1.00 : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4075015.61, 590679.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,195941.60,3648.9992,N,-12158.9985,W,1,03,00.5,043.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,195942.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 913.80 Seconds. : The vehicle position is is (4075016.2, 590679.4) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.27 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195942.60,3648.9996,N,-12158.9984,W,1,03,00.5,043.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,195943.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 870.00 : -6.25 : Estimated East Bias at time = 870.00 : -12.72 : Estimated Depth Bias at time = 870.00 : -0.93 : Estimated northing and easting = 4075009.36 : 590666.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 914.80 Seconds. : The vehicle position is (4075017.1, 590679.5) : NMEA Update: $GPGGA,195943.60,3649.0001,N,-12158.9984,W,1,03,00.5,043.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.28 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195944.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195944.60,3649.0005,N,-12158.9983,W,1,03,00.5,043.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,195945.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.28 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195945.60,3649.0009,N,-12158.9982,W,1,03,00.5,043.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,195946.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195946.60,3649.0014,N,-12158.9982,W,1,03,00.5,043.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 875.000058 : TerrainNav update at dvl time = 875.000058 : _navData-> (x,y) = (4075019.65, 590679.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.28 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195947.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195947.60,3649.0018,N,-12158.9981,W,1,03,00.5,043.9,M,-99.9,M,,*49 : Estimated North Bias at time = 875.00 : -8.05 : Estimated East Bias at time = 875.00 : -13.02 : Estimated Depth Bias at time = 875.00 : -0.93 : Estimated northing and easting = 4075011.60 : 590666.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195948.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.27 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195948.60,3649.0023,N,-12158.9981,W,1,03,00.5,043.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,195949.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 920.80 Seconds. : The vehicle position is is (4075022.0, 590680.0) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195949.60,3649.0027,N,-12158.9980,W,1,03,00.5,043.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,195950.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195950.60,3649.0032,N,-12158.9980,W,1,03,00.5,044.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195951.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195951.60,3649.0036,N,-12158.9979,W,1,03,00.5,044.0,M,-99.9,M,,*4b : TerrainNav update at nav time = 879.999716 : TerrainNav update at dvl time = 879.999716 : _navData-> (x,y) = (4075023.76, 590680.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,195952.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195952.60,3649.0041,N,-12158.9979,W,1,03,00.5,044.1,M,-99.9,M,,*49 : Estimated North Bias at time = 880.00 : -10.63 : Estimated East Bias at time = 880.00 : -13.34 : Estimated Depth Bias at time = 880.00 : -0.96 : Estimated northing and easting = 4075013.13 : 590666.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195953.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195953.60,3649.0045,N,-12158.9978,W,1,03,00.5,044.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,195954.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195954.60,3649.0049,N,-12158.9978,W,1,03,00.5,044.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,195955.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195955.60,3649.0054,N,-12158.9977,W,1,03,00.5,044.8,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=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195956.60,3649.0058,N,-12158.9976,W,1,03,00.5,045.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 884.999373 : TerrainNav update at dvl time = 884.999373 : _navData-> (x,y) = (4075027.82, 590680.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,195957.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195957.60,3649.0062,N,-12158.9975,W,1,03,00.5,045.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : Estimated North Bias at time = 885.00 : -13.21 : Estimated East Bias at time = 885.00 : -13.75 : Estimated Depth Bias at time = 885.00 : -0.98 : Estimated northing and easting = 4075014.61 : 590666.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,195958.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,195958.60,3649.0067,N,-12158.9974,W,1,03,00.5,045.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,195959.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 930.80 Seconds. : The vehicle position is (4075030.0, 590681.0) : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.28 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,195959.60,3649.0071,N,-12158.9972,W,1,03,00.5,045.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200000.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 931.80 Seconds. : The vehicle position is is (4075030.8, 590681.2) : NMEA Update: $GPGGA,200000.60,3649.0075,N,-12158.9971,W,1,03,00.5,044.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200001.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200001.60,3649.0079,N,-12158.9969,W,1,03,00.5,044.9,M,-99.9,M,,*4b : TerrainNav update at nav time = 889.999031 : TerrainNav update at dvl time = 889.999031 : _navData-> (x,y) = (4075031.74, 590681.51) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200002.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200002.60,3649.0083,N,-12158.9967,W,1,03,00.5,045.1,M,-99.9,M,,*4a : Estimated North Bias at time = 890.00 : -15.70 : Estimated East Bias at time = 890.00 : -14.13 : Estimated Depth Bias at time = 890.00 : -1.01 : Estimated northing and easting = 4075016.04 : 590667.38 : AshtechGps::processRecord() - $GPGGA,200003.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200003.60,3649.0087,N,-12158.9966,W,1,03,00.5,045.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200004.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200004.60,3649.0092,N,-12158.9964,W,1,03,00.5,045.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200005.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 936.80 Seconds. : The vehicle position is (4075034.7, 590682.5) : NMEA Update: $GPGGA,200005.60,3649.0096,N,-12158.9962,W,1,03,00.5,045.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200006.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=2 horz=0.28 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,200006.60,3649.0100,N,-12158.9959,W,1,03,00.5,045.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 894.998688 : TerrainNav update at dvl time = 894.998688 : _navData-> (x,y) = (4075035.58, 590682.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200007.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 938.80 Seconds. : The vehicle position is is (4075036.2, 590683.1) : NMEA Update: $GPGGA,200007.60,3649.0104,N,-12158.9957,W,1,03,00.5,045.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=250.00 horzlMode=3 horz=0.28 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,200008.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 895.00 : -17.70 : Estimated East Bias at time = 895.00 : -14.54 : Estimated Depth Bias at time = 895.00 : -1.04 : Estimated northing and easting = 4075017.87 : 590668.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming has set the state to finished. : WaypointHoming (4075036.7, 590684.3), reached at t = 940.00 (wplog) : Vehicle Position error is (-0.4, 0.9) : The distance to the waypoint is -0.1. : LayeredControl::execute() -- (t = 939.995606) Behavior waypoint_homing:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 940.00 (wplog) The current location (N,E) = 4075037.1 , 590683.5 (wplog) The next waypoint = 4074913.2 , 590816.9 (wplog) The bearing to the next w.p. is 132.9 Degrees. : LayeredControl::execute() -- (t = 940.005605) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,200008.60,3649.0108,N,-12158.9956,W,1,03,00.5,044.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200009.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200009.60,3649.0112,N,-12158.9954,W,1,03,00.5,044.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200010.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200010.60,3649.0116,N,-12158.9952,W,1,03,00.5,045.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200011.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200011.60,3649.0121,N,-12158.9950,W,1,03,00.5,045.2,M,-99.9,M,,*46 : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4075039.46, 590684.21) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200012.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200012.60,3649.0125,N,-12158.9948,W,1,03,00.5,044.6,M,-99.9,M,,*4d : Estimated North Bias at time = 900.00 : -18.58 : Estimated East Bias at time = 900.00 : -14.78 : Estimated Depth Bias at time = 900.00 : -1.06 : Estimated northing and easting = 4075020.88 : 590669.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200013.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200013.60,3649.0130,N,-12158.9946,W,1,03,00.5,044.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200014.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200014.60,3649.0135,N,-12158.9944,W,1,03,00.5,045.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200015.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200015.60,3649.0139,N,-12158.9941,W,1,03,00.5,045.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200016.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200016.60,3649.0144,N,-12158.9937,W,1,03,00.5,045.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 904.998003 : TerrainNav update at dvl time = 904.998003 : _navData-> (x,y) = (4075043.80, 590686.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200017.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200017.60,3649.0149,N,-12158.9934,W,1,03,00.5,045.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200018.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 905.00 : -21.44 : Estimated East Bias at time = 905.00 : -15.05 : Estimated Depth Bias at time = 905.00 : -1.08 : Estimated northing and easting = 4075022.36 : 590671.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200018.60,3649.0153,N,-12158.9929,W,1,03,00.5,044.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200019.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200019.60,3649.0158,N,-12158.9924,W,1,03,00.5,045.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200020.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200020.60,3649.0161,N,-12158.9919,W,1,03,00.5,043.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200021.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200021.60,3649.0165,N,-12158.9913,W,1,03,00.5,043.3,M,-99.9,M,,*45 : TerrainNav update at nav time = 909.997661 : TerrainNav update at dvl time = 909.997661 : _navData-> (x,y) = (4075047.67, 590689.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200022.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200022.60,3649.0168,N,-12158.9907,W,1,03,00.5,042.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200023.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : Estimated North Bias at time = 910.00 : -21.49 : Estimated East Bias at time = 910.00 : -15.16 : Estimated Depth Bias at time = 910.00 : -1.08 : Estimated northing and easting = 4075026.18 : 590674.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200023.60,3649.0170,N,-12158.9900,W,1,03,00.5,041.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200024.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200024.60,3649.0172,N,-12158.9893,W,1,03,00.5,041.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200025.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200025.60,3649.0173,N,-12158.9886,W,1,03,00.5,039.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200026.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200026.60,3649.0173,N,-12158.9878,W,1,03,00.5,038.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 914.997319 : TerrainNav update at dvl time = 914.997319 : _navData-> (x,y) = (4075049.18, 590694.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200027.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200027.60,3649.0172,N,-12158.9871,W,1,03,00.5,038.6,M,-99.9,M,,*49 : Estimated North Bias at time = 915.00 : -21.61 : Estimated East Bias at time = 915.00 : -15.09 : Estimated Depth Bias at time = 915.00 : -1.09 : Estimated northing and easting = 4075027.58 : 590679.75 : AshtechGps::processRecord() - $GPGGA,200028.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200028.60,3649.0171,N,-12158.9863,W,1,03,00.5,039.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200029.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200029.60,3649.0169,N,-12158.9856,W,1,03,00.5,038.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200030.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200030.60,3649.0166,N,-12158.9849,W,1,03,00.5,039.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200031.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200031.60,3649.0162,N,-12158.9843,W,1,03,00.5,039.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 919.996976 : TerrainNav update at dvl time = 919.996976 : _navData-> (x,y) = (4075047.33, 590700.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200032.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200032.60,3649.0158,N,-12158.9837,W,1,03,00.5,039.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200033.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 920.00 : -21.67 : Estimated East Bias at time = 920.00 : -15.34 : Estimated Depth Bias at time = 920.00 : -1.09 : Estimated northing and easting = 4075025.66 : 590684.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200033.60,3649.0153,N,-12158.9831,W,1,03,00.5,040.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200034.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200034.60,3649.0148,N,-12158.9827,W,1,03,00.5,040.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200035.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200035.60,3649.0142,N,-12158.9823,W,1,03,00.5,041.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200036.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200036.60,3649.0136,N,-12158.9820,W,1,03,00.5,041.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 924.996633 : TerrainNav update at dvl time = 924.996633 : _navData-> (x,y) = (4075042.42, 590703.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200037.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200037.60,3649.0129,N,-12158.9819,W,1,03,00.5,042.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200038.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 925.00 : -21.20 : Estimated East Bias at time = 925.00 : -15.51 : Estimated Depth Bias at time = 925.00 : -1.09 : Estimated northing and easting = 4075021.22 : 590688.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200038.60,3649.0123,N,-12158.9817,W,1,03,00.5,042.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200039.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200039.60,3649.0116,N,-12158.9817,W,1,03,00.5,043.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200040.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200040.60,3649.0109,N,-12158.9816,W,1,03,00.5,044.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200041.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200041.60,3649.0103,N,-12158.9816,W,1,03,00.5,042.6,M,-99.9,M,,*43 : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4075036.34, 590704.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200042.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200042.60,3649.0097,N,-12158.9815,W,1,03,00.5,043.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : Estimated North Bias at time = 930.00 : -21.16 : Estimated East Bias at time = 930.00 : -15.33 : Estimated Depth Bias at time = 930.00 : -1.09 : Estimated northing and easting = 4075015.18 : 590688.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200043.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200043.60,3649.0090,N,-12158.9815,W,1,03,00.5,043.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200044.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200044.60,3649.0083,N,-12158.9814,W,1,03,00.5,043.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200045.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200045.60,3649.0076,N,-12158.9813,W,1,03,00.5,044.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200046.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200046.60,3649.0069,N,-12158.9811,W,1,03,00.5,044.5,M,-99.9,M,,*4b : TerrainNav update at nav time = 934.995948 : TerrainNav update at dvl time = 934.995948 : _navData-> (x,y) = (4075030.11, 590704.99) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200047.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200047.60,3649.0062,N,-12158.9809,W,1,03,00.5,045.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200048.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 935.00 : -20.71 : Estimated East Bias at time = 935.00 : -15.56 : Estimated Depth Bias at time = 935.00 : -1.09 : Estimated northing and easting = 4075009.40 : 590689.44 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200048.60,3649.0054,N,-12158.9807,W,1,03,00.5,044.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200049.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200049.60,3649.0047,N,-12158.9804,W,1,03,00.5,045.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200050.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200050.60,3649.0040,N,-12158.9801,W,1,03,00.5,044.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200051.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200051.60,3649.0033,N,-12158.9797,W,1,03,00.5,045.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 939.995606 : TerrainNav update at dvl time = 939.995606 : _navData-> (x,y) = (4075023.47, 590707.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200052.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200052.60,3649.0026,N,-12158.9794,W,1,03,00.5,045.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200053.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 940.00 : -19.59 : Estimated East Bias at time = 940.00 : -15.63 : Estimated Depth Bias at time = 940.00 : -1.09 : Estimated northing and easting = 4075003.88 : 590691.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200053.60,3649.0019,N,-12158.9790,W,1,03,00.5,045.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200054.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200054.60,3649.0011,N,-12158.9786,W,1,03,00.5,045.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200055.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200055.60,3649.0004,N,-12158.9782,W,1,03,00.5,046.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200056.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200056.60,3648.9997,N,-12158.9778,W,1,03,00.5,046.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 944.995263 : TerrainNav update at dvl time = 944.995263 : _navData-> (x,y) = (4075016.82, 590710.12) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200057.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200057.60,3648.9990,N,-12158.9773,W,1,03,00.5,047.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200058.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 945.00 : -18.67 : Estimated East Bias at time = 945.00 : -15.58 : Estimated Depth Bias at time = 945.00 : -1.09 : Estimated northing and easting = 4074998.15 : 590694.54 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200058.60,3648.9982,N,-12158.9769,W,1,03,00.5,047.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200059.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200059.60,3648.9975,N,-12158.9764,W,1,03,00.5,047.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200100.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200100.60,3648.9968,N,-12158.9759,W,1,03,00.5,047.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200101.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200101.60,3648.9961,N,-12158.9753,W,1,03,00.5,047.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 949.994921 : TerrainNav update at dvl time = 949.994921 : _navData-> (x,y) = (4075010.29, 590713.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200102.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200102.60,3648.9955,N,-12158.9748,W,1,03,00.5,047.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200103.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 949.99 : -19.04 : Estimated East Bias at time = 949.99 : -15.55 : Estimated Depth Bias at time = 949.99 : -1.09 : Estimated northing and easting = 4074991.26 : 590698.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200103.60,3648.9948,N,-12158.9742,W,1,03,00.5,047.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200104.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200104.60,3648.9941,N,-12158.9736,W,1,03,00.5,047.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200105.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200105.60,3648.9935,N,-12158.9730,W,1,03,00.5,046.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200106.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200106.60,3648.9928,N,-12158.9723,W,1,03,00.5,047.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 954.994578 : TerrainNav update at dvl time = 954.994578 : _navData-> (x,y) = (4075004.23, 590718.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200107.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200107.41,3648.9922,N,-12158.9717,W,1,03,00.5,046.4,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200108.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 954.99 : -19.58 : Estimated East Bias at time = 954.99 : -15.61 : Estimated Depth Bias at time = 954.99 : -1.09 : Estimated northing and easting = 4074984.65 : 590702.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200108.41,3648.9916,N,-12158.9710,W,1,03,00.5,046.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200109.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200109.41,3648.9910,N,-12158.9703,W,1,03,00.5,046.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200110.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200110.41,3648.9904,N,-12158.9697,W,1,03,00.5,046.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200111.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200111.41,3648.9898,N,-12158.9690,W,1,03,00.5,045.8,M,-99.9,M,,*4e : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4074998.65, 590723.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200112.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200112.41,3648.9892,N,-12158.9683,W,1,03,00.5,046.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200113.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 959.99 : -19.80 : Estimated East Bias at time = 959.99 : -15.29 : Estimated Depth Bias at time = 959.99 : -1.09 : Estimated northing and easting = 4074978.85 : 590708.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200113.41,3648.9886,N,-12158.9675,W,1,03,00.5,045.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200114.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200114.41,3648.9880,N,-12158.9668,W,1,03,00.5,046.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200115.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200115.41,3648.9874,N,-12158.9661,W,1,03,00.5,046.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200116.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200116.41,3648.9869,N,-12158.9654,W,1,03,00.5,045.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 964.993893 : TerrainNav update at dvl time = 964.993893 : _navData-> (x,y) = (4074993.30, 590728.79) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200117.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200117.41,3648.9863,N,-12158.9647,W,1,03,00.5,045.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200118.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 964.99 : -19.88 : Estimated East Bias at time = 964.99 : -15.44 : Estimated Depth Bias at time = 964.99 : -1.09 : Estimated northing and easting = 4074973.43 : 590713.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200118.41,3648.9857,N,-12158.9639,W,1,03,00.5,045.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200119.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200119.41,3648.9851,N,-12158.9632,W,1,03,00.5,045.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200120.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200120.41,3648.9846,N,-12158.9624,W,1,03,00.5,045.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200121.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200121.41,3648.9840,N,-12158.9617,W,1,03,00.5,045.7,M,-99.9,M,,*48 : TerrainNav update at nav time = 969.993551 : TerrainNav update at dvl time = 969.993551 : _navData-> (x,y) = (4074988.09, 590734.36) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200122.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200122.41,3648.9835,N,-12158.9609,W,1,03,00.5,045.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200123.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 969.99 : -20.23 : Estimated East Bias at time = 969.99 : -15.92 : Estimated Depth Bias at time = 969.99 : -1.09 : Estimated northing and easting = 4074967.86 : 590718.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200123.41,3648.9829,N,-12158.9602,W,1,03,00.5,045.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200124.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200124.41,3648.9823,N,-12158.9594,W,1,03,00.5,045.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200125.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200125.41,3648.9818,N,-12158.9587,W,1,03,00.5,045.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200126.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200126.41,3648.9812,N,-12158.9579,W,1,03,00.5,045.5,M,-99.9,M,,*41 : TerrainNav update at nav time = 974.993208 : TerrainNav update at dvl time = 974.993208 : _navData-> (x,y) = (4074983.02, 590740.05) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200127.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200127.41,3648.9807,N,-12158.9571,W,1,03,00.5,046.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200128.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 974.99 : -20.45 : Estimated East Bias at time = 974.99 : -15.54 : Estimated Depth Bias at time = 974.99 : -1.09 : Estimated northing and easting = 4074962.57 : 590724.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200128.41,3648.9801,N,-12158.9563,W,1,03,00.5,045.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200129.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200129.41,3648.9796,N,-12158.9556,W,1,03,00.5,046.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200130.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200130.41,3648.9791,N,-12158.9549,W,1,03,00.5,045.5,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200131.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200131.41,3648.9786,N,-12158.9542,W,1,03,00.5,045.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 980.002865 : TerrainNav update at dvl time = 980.002865 : _navData-> (x,y) = (4074978.00, 590745.86) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200132.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200132.41,3648.9780,N,-12158.9534,W,1,03,00.5,046.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200133.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 980.00 : -20.68 : Estimated East Bias at time = 980.00 : -15.33 : Estimated Depth Bias at time = 980.00 : -1.09 : Estimated northing and easting = 4074957.32 : 590730.53 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200133.41,3648.9775,N,-12158.9526,W,1,03,00.5,046.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200134.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200134.41,3648.9770,N,-12158.9518,W,1,03,00.5,046.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200135.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200135.41,3648.9764,N,-12158.9510,W,1,03,00.5,045.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200136.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200136.41,3648.9759,N,-12158.9502,W,1,03,00.5,045.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 985.002523 : TerrainNav update at dvl time = 985.002523 : _navData-> (x,y) = (4074973.09, 590751.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200137.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200137.41,3648.9754,N,-12158.9495,W,1,03,00.5,045.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200138.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 985.00 : -20.26 : Estimated East Bias at time = 985.00 : -15.52 : Estimated Depth Bias at time = 985.00 : -1.09 : Estimated northing and easting = 4074952.84 : 590736.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200138.41,3648.9748,N,-12158.9487,W,1,03,00.5,045.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200139.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200139.41,3648.9743,N,-12158.9479,W,1,03,00.5,045.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200140.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200140.41,3648.9738,N,-12158.9471,W,1,03,00.5,045.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200141.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200141.41,3648.9733,N,-12158.9463,W,1,03,00.5,045.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4074968.26, 590757.62) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200142.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200142.41,3648.9727,N,-12158.9455,W,1,03,00.5,045.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200143.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 990.00 : -19.95 : Estimated East Bias at time = 990.00 : -15.95 : Estimated Depth Bias at time = 990.00 : -1.09 : Estimated northing and easting = 4074948.31 : 590741.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200143.41,3648.9722,N,-12158.9447,W,1,03,00.5,045.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200144.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200144.41,3648.9717,N,-12158.9439,W,1,03,00.5,045.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200145.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200145.41,3648.9711,N,-12158.9432,W,1,03,00.5,045.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200146.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200146.41,3648.9706,N,-12158.9424,W,1,03,00.5,046.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 995.001838 : TerrainNav update at dvl time = 995.001838 : _navData-> (x,y) = (4074963.43, 590763.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200147.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200147.41,3648.9701,N,-12158.9416,W,1,03,00.5,046.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200148.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 995.00 : -19.97 : Estimated East Bias at time = 995.00 : -16.34 : Estimated Depth Bias at time = 995.00 : -1.09 : Estimated northing and easting = 4074943.46 : 590747.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200148.41,3648.9695,N,-12158.9408,W,1,03,00.5,046.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200149.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200149.41,3648.9690,N,-12158.9400,W,1,03,00.5,046.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200150.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200150.41,3648.9684,N,-12158.9392,W,1,03,00.5,046.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200151.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200151.41,3648.9679,N,-12158.9385,W,1,03,00.5,046.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 1000.001495 : TerrainNav update at dvl time = 1000.001495 : _navData-> (x,y) = (4074958.45, 590769.41) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200152.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200152.41,3648.9673,N,-12158.9377,W,1,03,00.5,045.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200153.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1000.00 : -20.05 : Estimated East Bias at time = 1000.00 : -15.53 : Estimated Depth Bias at time = 1000.00 : -1.09 : Estimated northing and easting = 4074938.40 : 590753.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200153.41,3648.9668,N,-12158.9369,W,1,03,00.5,046.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200154.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200154.41,3648.9662,N,-12158.9362,W,1,03,00.5,046.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200155.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200155.41,3648.9657,N,-12158.9354,W,1,03,00.5,045.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200156.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200156.41,3648.9651,N,-12158.9347,W,1,03,00.5,045.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 1005.001153 : TerrainNav update at dvl time = 1005.001153 : _navData-> (x,y) = (4074953.35, 590775.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200157.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200157.41,3648.9645,N,-12158.9339,W,1,03,00.5,046.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200158.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1005.00 : -20.06 : Estimated East Bias at time = 1005.00 : -15.14 : Estimated Depth Bias at time = 1005.00 : -1.09 : Estimated northing and easting = 4074933.29 : 590759.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200158.41,3648.9640,N,-12158.9332,W,1,03,00.5,045.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200159.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200159.41,3648.9634,N,-12158.9325,W,1,03,00.5,045.6,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200200.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200200.41,3648.9628,N,-12158.9317,W,1,03,00.5,045.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200201.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200201.41,3648.9622,N,-12158.9310,W,1,03,00.5,045.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 1010.000810 : TerrainNav update at dvl time = 1010.000810 : _navData-> (x,y) = (4074948.11, 590780.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200202.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200202.40,3648.9617,N,-12158.9303,W,1,03,00.5,045.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200203.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1010.00 : -20.46 : Estimated East Bias at time = 1010.00 : -15.89 : Estimated Depth Bias at time = 1010.00 : -1.09 : Estimated northing and easting = 4074927.64 : 590764.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200203.40,3648.9611,N,-12158.9296,W,1,03,00.5,045.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200204.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200204.40,3648.9605,N,-12158.9289,W,1,03,00.5,045.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200205.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200205.40,3648.9599,N,-12158.9281,W,1,03,00.5,045.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200206.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200206.40,3648.9594,N,-12158.9274,W,1,03,00.5,045.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 1015.000468 : TerrainNav update at dvl time = 1015.000468 : _navData-> (x,y) = (4074942.87, 590785.98) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200207.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200207.40,3648.9588,N,-12158.9267,W,1,03,00.5,046.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200208.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1015.00 : -20.62 : Estimated East Bias at time = 1015.00 : -16.32 : Estimated Depth Bias at time = 1015.00 : -1.09 : Estimated northing and easting = 4074922.25 : 590769.66 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200208.40,3648.9582,N,-12158.9260,W,1,03,00.5,046.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200209.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200209.40,3648.9576,N,-12158.9253,W,1,03,00.5,046.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200210.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200210.40,3648.9571,N,-12158.9246,W,1,03,00.5,046.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200211.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200211.40,3648.9565,N,-12158.9239,W,1,03,00.5,046.5,M,-99.9,M,,*4a : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4074937.56, 590791.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200212.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200212.40,3648.9559,N,-12158.9232,W,1,03,00.5,046.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200213.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1020.00 : -20.57 : Estimated East Bias at time = 1020.00 : -17.16 : Estimated Depth Bias at time = 1020.00 : -1.09 : Estimated northing and easting = 4074916.99 : 590774.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200213.40,3648.9553,N,-12158.9225,W,1,03,00.5,047.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200214.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200214.40,3648.9547,N,-12158.9218,W,1,03,00.5,046.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200215.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200215.40,3648.9541,N,-12158.9211,W,1,03,00.5,046.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200216.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200216.40,3648.9535,N,-12158.9204,W,1,03,00.5,047.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1024.999783 : TerrainNav update at dvl time = 1024.999783 : _navData-> (x,y) = (4074932.20, 590796.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200217.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200217.40,3648.9530,N,-12158.9197,W,1,03,00.5,047.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200218.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1025.00 : -20.74 : Estimated East Bias at time = 1025.00 : -17.10 : Estimated Depth Bias at time = 1025.00 : -1.09 : Estimated northing and easting = 4074911.45 : 590779.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200218.40,3648.9524,N,-12158.9189,W,1,03,00.5,047.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200219.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200219.40,3648.9518,N,-12158.9182,W,1,03,00.5,046.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200220.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200220.40,3648.9512,N,-12158.9176,W,1,03,00.5,046.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200221.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200221.40,3648.9506,N,-12158.9168,W,1,03,00.5,046.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 1029.999440 : TerrainNav update at dvl time = 1029.999440 : _navData-> (x,y) = (4074926.85, 590801.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200222.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200222.40,3648.9500,N,-12158.9162,W,1,03,00.5,046.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200223.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1030.00 : -21.30 : Estimated East Bias at time = 1030.00 : -16.27 : Estimated Depth Bias at time = 1030.00 : -1.10 : Estimated northing and easting = 4074905.56 : 590785.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200223.40,3648.9495,N,-12158.9154,W,1,03,00.5,045.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200224.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200224.40,3648.9489,N,-12158.9147,W,1,03,00.5,045.8,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200225.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200225.40,3648.9483,N,-12158.9140,W,1,03,00.5,046.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200226.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200226.40,3648.9477,N,-12158.9133,W,1,03,00.5,046.6,M,-99.9,M,,*46 : TerrainNav update at nav time = 1034.999098 : TerrainNav update at dvl time = 1034.999098 : _navData-> (x,y) = (4074921.60, 590807.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200227.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200227.40,3648.9472,N,-12158.9126,W,1,03,00.5,046.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200228.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1035.00 : -20.92 : Estimated East Bias at time = 1035.00 : -16.98 : Estimated Depth Bias at time = 1035.00 : -1.09 : Estimated northing and easting = 4074900.68 : 590790.19 : NMEA Update: $GPGGA,200228.40,3648.9466,N,-12158.9119,W,1,03,00.5,046.5,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200229.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200229.40,3648.9460,N,-12158.9112,W,1,03,00.5,046.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200230.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200230.40,3648.9455,N,-12158.9105,W,1,03,00.5,046.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200231.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200231.40,3648.9449,N,-12158.9097,W,1,03,00.5,046.7,M,-99.9,M,,*43 : TerrainNav update at nav time = 1039.998755 : TerrainNav update at dvl time = 1039.998755 : _navData-> (x,y) = (4074916.45, 590812.55) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200232.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200232.40,3648.9444,N,-12158.9090,W,1,03,00.5,047.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200233.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1040.00 : -21.19 : Estimated East Bias at time = 1040.00 : -16.65 : Estimated Depth Bias at time = 1040.00 : -1.10 : Estimated northing and easting = 4074895.27 : 590795.90 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200233.40,3648.9438,N,-12158.9083,W,1,03,00.5,047.0,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200234.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200234.40,3648.9433,N,-12158.9076,W,1,03,00.5,046.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=2.32 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200235.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074913.2, 590816.9), reached at t = 1086.60 (wplog) : Vehicle Position is error is (0.5, 0.4) : LayeredControl::execute() -- (t = 1086.595563) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1086.60 (wplog) The current location (N,E) = 4074912.8 , 590816.5 (wplog) The next waypoint = 4074786.1 , 591284.1 (wplog) The bearing to the next w.p. is 105.2 Degrees. : LayeredControl::execute() -- (t = 1086.595563) Behavior waypoint:-1 has changed to state Active : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200235.40,3648.9427,N,-12158.9068,W,1,03,00.5,046.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200236.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200236.40,3648.9421,N,-12158.9061,W,1,03,00.5,046.8,M,-99.9,M,,*4c : TerrainNav update at nav time = 1044.998413 : TerrainNav update at dvl time = 1044.998413 : _navData-> (x,y) = (4074911.36, 590818.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200237.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200237.40,3648.9416,N,-12158.9053,W,1,03,00.5,046.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200238.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1045.00 : -21.72 : Estimated East Bias at time = 1045.00 : -15.96 : Estimated Depth Bias at time = 1045.00 : -1.10 : Estimated northing and easting = 4074889.64 : 590802.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200238.40,3648.9411,N,-12158.9045,W,1,03,00.5,048.0,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200239.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200239.40,3648.9407,N,-12158.9036,W,1,03,00.5,048.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200240.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200240.40,3648.9404,N,-12158.9027,W,1,03,00.5,046.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200241.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200241.40,3648.9402,N,-12158.9018,W,1,03,00.5,046.0,M,-99.9,M,,*4b : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4074907.92, 590824.43) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200242.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200242.40,3648.9400,N,-12158.9009,W,1,03,00.5,044.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200243.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1050.00 : -22.30 : Estimated East Bias at time = 1050.00 : -16.75 : Estimated Depth Bias at time = 1050.00 : -1.10 : Estimated northing and easting = 4074885.62 : 590807.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200243.40,3648.9398,N,-12158.9000,W,1,03,00.5,044.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200244.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200244.40,3648.9397,N,-12158.8991,W,1,03,00.5,044.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200245.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200245.40,3648.9396,N,-12158.8982,W,1,03,00.5,044.6,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200246.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200246.40,3648.9395,N,-12158.8973,W,1,03,00.5,044.9,M,-99.9,M,,*4b : TerrainNav update at nav time = 1054.997728 : TerrainNav update at dvl time = 1054.997728 : _navData-> (x,y) = (4074906.71, 590831.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200247.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200247.40,3648.9394,N,-12158.8964,W,1,03,00.5,044.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200248.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1055.00 : -22.59 : Estimated East Bias at time = 1055.00 : -16.67 : Estimated Depth Bias at time = 1055.00 : -1.10 : Estimated northing and easting = 4074884.12 : 590814.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200248.40,3648.9393,N,-12158.8954,W,1,03,00.5,044.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200249.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200249.40,3648.9392,N,-12158.8945,W,1,03,00.5,045.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200250.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200250.40,3648.9391,N,-12158.8936,W,1,03,00.5,045.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200251.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200251.40,3648.9390,N,-12158.8926,W,1,03,00.5,045.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1059.997385 : TerrainNav update at dvl time = 1059.997385 : _navData-> (x,y) = (4074905.96, 590838.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200252.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200252.40,3648.9389,N,-12158.8916,W,1,03,00.5,046.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1060.00 : -23.28 : Estimated East Bias at time = 1060.00 : -17.07 : Estimated Depth Bias at time = 1060.00 : -1.10 : Estimated northing and easting = 4074882.68 : 590821.15 : AshtechGps::processRecord() - $GPGGA,200253.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200253.40,3648.9388,N,-12158.8907,W,1,03,00.5,045.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200254.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200254.40,3648.9387,N,-12158.8897,W,1,03,00.5,046.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200255.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200255.40,3648.9386,N,-12158.8887,W,1,03,00.5,045.6,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200256.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200256.40,3648.9384,N,-12158.8877,W,1,03,00.5,045.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 1064.997043 : TerrainNav update at dvl time = 1064.997043 : _navData-> (x,y) = (4074904.93, 590845.46) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200257.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200257.40,3648.9383,N,-12158.8868,W,1,03,00.5,045.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200258.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1065.00 : -23.66 : Estimated East Bias at time = 1065.00 : -16.96 : Estimated Depth Bias at time = 1065.00 : -1.10 : Estimated northing and easting = 4074881.27 : 590828.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200258.40,3648.9381,N,-12158.8858,W,1,03,00.5,045.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200259.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200259.40,3648.9380,N,-12158.8848,W,1,03,00.5,045.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200300.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200300.40,3648.9378,N,-12158.8838,W,1,03,00.5,045.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200301.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200301.40,3648.9377,N,-12158.8828,W,1,03,00.5,045.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 1069.996700 : TerrainNav update at dvl time = 1069.996700 : _navData-> (x,y) = (4074903.58, 590852.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200302.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200302.40,3648.9375,N,-12158.8819,W,1,03,00.5,045.1,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200303.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1070.00 : -24.18 : Estimated East Bias at time = 1070.00 : -17.51 : Estimated Depth Bias at time = 1070.00 : -1.10 : Estimated northing and easting = 4074879.40 : 590835.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200303.40,3648.9373,N,-12158.8809,W,1,03,00.5,045.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200304.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200304.40,3648.9372,N,-12158.8799,W,1,03,00.5,045.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200305.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200305.40,3648.9370,N,-12158.8789,W,1,03,00.5,045.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200306.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200306.40,3648.9368,N,-12158.8779,W,1,03,00.5,045.2,M,-99.9,M,,*42 : TerrainNav update at nav time = 1074.996358 : TerrainNav update at dvl time = 1074.996358 : _navData-> (x,y) = (4074902.13, 590860.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200307.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200307.40,3648.9367,N,-12158.8769,W,1,03,00.5,045.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200308.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1075.00 : -24.77 : Estimated East Bias at time = 1075.00 : -16.92 : Estimated Depth Bias at time = 1075.00 : -1.10 : Estimated northing and easting = 4074877.35 : 590843.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200308.40,3648.9365,N,-12158.8759,W,1,03,00.5,045.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200309.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200309.40,3648.9363,N,-12158.8749,W,1,03,00.5,045.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200310.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200310.40,3648.9361,N,-12158.8739,W,1,03,00.5,045.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200311.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200311.40,3648.9359,N,-12158.8730,W,1,03,00.5,044.9,M,-99.9,M,,*41 : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4074900.47, 590867.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200312.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200312.40,3648.9357,N,-12158.8720,W,1,03,00.5,045.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200313.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1080.00 : -25.30 : Estimated East Bias at time = 1080.00 : -17.40 : Estimated Depth Bias at time = 1080.00 : -1.10 : Estimated northing and easting = 4074875.17 : 590850.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200313.40,3648.9355,N,-12158.8710,W,1,03,00.5,045.4,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200314.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200314.40,3648.9353,N,-12158.8700,W,1,03,00.5,044.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200315.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200315.40,3648.9350,N,-12158.8691,W,1,03,00.5,044.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200316.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200316.40,3648.9348,N,-12158.8681,W,1,03,00.5,044.5,M,-99.9,M,,*41 : TerrainNav update at nav time = 1084.995673 : TerrainNav update at dvl time = 1084.995673 : _navData-> (x,y) = (4074898.52, 590874.75) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200317.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200317.40,3648.9346,N,-12158.8671,W,1,03,00.5,045.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200318.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1085.00 : -26.44 : Estimated East Bias at time = 1085.00 : -16.46 : Estimated Depth Bias at time = 1085.00 : -1.10 : Estimated northing and easting = 4074872.08 : 590858.29 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200318.40,3648.9343,N,-12158.8661,W,1,03,00.5,044.9,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200319.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200319.40,3648.9341,N,-12158.8652,W,1,03,00.5,044.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200320.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200320.40,3648.9339,N,-12158.8642,W,1,03,00.5,045.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200321.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200321.40,3648.9337,N,-12158.8632,W,1,03,00.5,044.6,M,-99.9,M,,*46 : TerrainNav update at nav time = 1089.995330 : TerrainNav update at dvl time = 1089.995330 : _navData-> (x,y) = (4074896.50, 590882.02) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200322.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200322.40,3648.9334,N,-12158.8622,W,1,03,00.5,045.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200323.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1090.00 : -27.65 : Estimated East Bias at time = 1090.00 : -17.32 : Estimated Depth Bias at time = 1090.00 : -1.10 : Estimated northing and easting = 4074868.85 : 590864.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200323.40,3648.9332,N,-12158.8613,W,1,03,00.5,045.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200324.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200324.40,3648.9330,N,-12158.8603,W,1,03,00.5,044.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200325.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200325.40,3648.9328,N,-12158.8593,W,1,03,00.5,045.0,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200326.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200326.40,3648.9325,N,-12158.8584,W,1,03,00.5,045.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1094.994988 : TerrainNav update at dvl time = 1094.994988 : _navData-> (x,y) = (4074894.42, 590889.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200327.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200327.40,3648.9323,N,-12158.8574,W,1,03,00.5,044.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200328.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1094.99 : -27.76 : Estimated East Bias at time = 1094.99 : -17.66 : Estimated Depth Bias at time = 1094.99 : -1.10 : Estimated northing and easting = 4074866.66 : 590871.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200328.40,3648.9320,N,-12158.8564,W,1,03,00.5,045.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200329.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200329.40,3648.9318,N,-12158.8555,W,1,03,00.5,045.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200330.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200330.40,3648.9315,N,-12158.8545,W,1,03,00.5,044.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200331.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200331.40,3648.9312,N,-12158.8536,W,1,03,00.5,045.1,M,-99.9,M,,*41 : TerrainNav update at nav time = 1099.994645 : TerrainNav update at dvl time = 1099.994645 : _navData-> (x,y) = (4074892.13, 590896.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200332.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200332.40,3648.9310,N,-12158.8526,W,1,03,00.5,045.0,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200333.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200333.21,3648.9307,N,-12158.8517,W,1,03,00.5,045.3,M,-99.9,M,,*41 : Estimated North Bias at time = 1099.99 : -27.66 : Estimated East Bias at time = 1099.99 : -17.53 : Estimated Depth Bias at time = 1099.99 : -1.10 : Estimated northing and easting = 4074864.47 : 590878.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200334.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200334.21,3648.9305,N,-12158.8507,W,1,03,00.5,045.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200335.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200335.21,3648.9302,N,-12158.8498,W,1,03,00.5,045.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200336.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200336.21,3648.9299,N,-12158.8488,W,1,03,00.5,045.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1104.994303 : TerrainNav update at dvl time = 1104.994303 : _navData-> (x,y) = (4074889.81, 590903.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200337.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200337.21,3648.9297,N,-12158.8479,W,1,03,00.5,045.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200338.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1104.99 : -28.17 : Estimated East Bias at time = 1104.99 : -17.34 : Estimated Depth Bias at time = 1104.99 : -1.10 : Estimated northing and easting = 4074861.65 : 590886.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200338.21,3648.9294,N,-12158.8470,W,1,03,00.5,046.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200339.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200339.21,3648.9292,N,-12158.8460,W,1,03,00.5,046.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200340.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200340.21,3648.9289,N,-12158.8451,W,1,03,00.5,046.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200341.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200341.21,3648.9286,N,-12158.8441,W,1,03,00.5,046.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4074887.45, 590910.45) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200342.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200342.21,3648.9284,N,-12158.8432,W,1,03,00.5,046.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200343.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1109.99 : -29.76 : Estimated East Bias at time = 1109.99 : -18.42 : Estimated Depth Bias at time = 1109.99 : -1.10 : Estimated northing and easting = 4074857.70 : 590892.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200343.21,3648.9281,N,-12158.8423,W,1,03,00.5,046.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200344.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200344.21,3648.9278,N,-12158.8414,W,1,03,00.5,046.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200345.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200345.21,3648.9275,N,-12158.8404,W,1,03,00.5,046.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200346.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200346.21,3648.9272,N,-12158.8395,W,1,03,00.5,046.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 1114.993618 : TerrainNav update at dvl time = 1114.993618 : _navData-> (x,y) = (4074884.98, 590917.35) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200347.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200347.21,3648.9270,N,-12158.8386,W,1,03,00.5,046.3,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200348.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1114.99 : -30.79 : Estimated East Bias at time = 1114.99 : -17.82 : Estimated Depth Bias at time = 1114.99 : -1.10 : Estimated northing and easting = 4074854.18 : 590899.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200348.21,3648.9267,N,-12158.8377,W,1,03,00.5,046.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200349.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200349.21,3648.9264,N,-12158.8368,W,1,03,00.5,046.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200350.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200350.21,3648.9261,N,-12158.8359,W,1,03,00.5,046.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200351.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200351.21,3648.9258,N,-12158.8349,W,1,03,00.5,046.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 1119.993275 : TerrainNav update at dvl time = 1119.993275 : _navData-> (x,y) = (4074882.42, 590924.20) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200352.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200352.21,3648.9256,N,-12158.8340,W,1,03,00.5,046.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200353.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1119.99 : -31.26 : Estimated East Bias at time = 1119.99 : -17.85 : Estimated Depth Bias at time = 1119.99 : -1.10 : Estimated northing and easting = 4074851.16 : 590906.35 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200353.21,3648.9253,N,-12158.8331,W,1,03,00.5,046.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200354.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200354.21,3648.9251,N,-12158.8321,W,1,03,00.5,046.6,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200355.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200355.21,3648.9249,N,-12158.8312,W,1,03,00.5,046.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200356.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200356.21,3648.9247,N,-12158.8304,W,1,03,00.5,046.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 1125.002932 : TerrainNav update at dvl time = 1125.002932 : _navData-> (x,y) = (4074880.35, 590931.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200357.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200357.21,3648.9245,N,-12158.8295,W,1,03,00.5,046.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200358.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200358.21,3648.9243,N,-12158.8285,W,1,03,00.5,046.9,M,-99.9,M,,*48 : Estimated North Bias at time = 1125.00 : -31.93 : Estimated East Bias at time = 1125.00 : -17.86 : Estimated Depth Bias at time = 1125.00 : -1.10 : Estimated northing and easting = 4074848.42 : 590913.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200359.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200359.21,3648.9241,N,-12158.8276,W,1,03,00.5,046.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200400.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200400.21,3648.9239,N,-12158.8266,W,1,03,00.5,046.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200401.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200401.21,3648.9237,N,-12158.8257,W,1,03,00.5,047.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1130.002589 : TerrainNav update at dvl time = 1130.002589 : _navData-> (x,y) = (4074878.59, 590938.26) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200402.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200402.21,3648.9235,N,-12158.8247,W,1,03,00.5,047.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200403.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1130.00 : -32.41 : Estimated East Bias at time = 1130.00 : -17.02 : Estimated Depth Bias at time = 1130.00 : -1.10 : Estimated northing and easting = 4074846.18 : 590921.24 : NMEA Update: $GPGGA,200403.21,3648.9233,N,-12158.8238,W,1,03,00.5,046.9,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200404.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200404.21,3648.9231,N,-12158.8228,W,1,03,00.5,047.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200405.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200405.21,3648.9229,N,-12158.8219,W,1,03,00.5,047.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200406.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200406.21,3648.9228,N,-12158.8209,W,1,03,00.5,047.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 1135.002247 : TerrainNav update at dvl time = 1135.002247 : _navData-> (x,y) = (4074876.97, 590945.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200407.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200407.21,3648.9226,N,-12158.8199,W,1,03,00.5,047.8,M,-99.9,M,,*48 : Estimated North Bias at time = 1135.00 : -33.46 : AshtechGps::processRecord() - $GPGGA,200408.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 1135.00 : -17.16 : Estimated Depth Bias at time = 1135.00 : -1.11 : Estimated northing and easting = 4074843.51 : 590928.24 : NMEA Update: $GPGGA,200408.21,3648.9224,N,-12158.8190,W,1,03,00.5,048.0,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200409.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200409.21,3648.9223,N,-12158.8180,W,1,03,00.5,048.6,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200410.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200410.21,3648.9221,N,-12158.8170,W,1,03,00.5,048.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200411.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200411.21,3648.9219,N,-12158.8160,W,1,03,00.5,048.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1140.001904 : TerrainNav update at dvl time = 1140.001904 : _navData-> (x,y) = (4074875.45, 590952.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200412.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200412.21,3648.9217,N,-12158.8151,W,1,03,00.5,048.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1140.00 : -33.37 : Estimated East Bias at time = 1140.00 : -17.78 : Estimated Depth Bias at time = 1140.00 : -1.11 : Estimated northing and easting = 4074842.09 : 590934.86 : AshtechGps::processRecord() - $GPGGA,200413.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200413.21,3648.9215,N,-12158.8141,W,1,03,00.5,048.5,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200414.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200414.21,3648.9214,N,-12158.8132,W,1,03,00.5,048.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200415.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200415.21,3648.9212,N,-12158.8122,W,1,03,00.5,048.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200416.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200416.21,3648.9210,N,-12158.8112,W,1,03,00.5,048.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 1145.001562 : TerrainNav update at dvl time = 1145.001562 : _navData-> (x,y) = (4074873.89, 590959.81) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200417.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200417.21,3648.9208,N,-12158.8103,W,1,03,00.5,049.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200418.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1145.00 : -33.62 : Estimated East Bias at time = 1145.00 : -18.01 : Estimated Depth Bias at time = 1145.00 : -1.11 : Estimated northing and easting = 4074840.27 : 590941.81 : NMEA Update: $GPGGA,200418.21,3648.9207,N,-12158.8093,W,1,03,00.5,049.3,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200419.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200419.21,3648.9205,N,-12158.8084,W,1,03,00.5,049.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200420.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200420.21,3648.9203,N,-12158.8074,W,1,03,00.5,049.8,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200421.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200421.21,3648.9202,N,-12158.8064,W,1,03,00.5,050.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 1150.001220 : TerrainNav update at dvl time = 1150.001220 : _navData-> (x,y) = (4074872.37, 590966.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200422.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200422.21,3648.9200,N,-12158.8055,W,1,03,00.5,049.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200423.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1150.00 : -34.10 : Estimated East Bias at time = 1150.00 : -17.17 : Estimated Depth Bias at time = 1150.00 : -1.11 : Estimated northing and easting = 4074838.27 : 590949.79 : NMEA Update: $GPGGA,200423.21,3648.9198,N,-12158.8045,W,1,03,00.5,050.1,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200424.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200424.21,3648.9196,N,-12158.8036,W,1,03,00.5,049.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200425.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200425.21,3648.9194,N,-12158.8026,W,1,03,00.5,049.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200426.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200426.21,3648.9192,N,-12158.8016,W,1,03,00.5,050.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 1155.000877 : TerrainNav update at dvl time = 1155.000877 : _navData-> (x,y) = (4074870.61, 590974.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200427.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200427.21,3648.9190,N,-12158.8007,W,1,03,00.5,050.2,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200428.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200428.20,3648.9188,N,-12158.7997,W,1,03,00.5,050.4,M,-99.9,M,,*40 : Estimated North Bias at time = 1155.00 : -34.48 : Estimated East Bias at time = 1155.00 : -16.61 : Estimated Depth Bias at time = 1155.00 : -1.11 : Estimated northing and easting = 4074836.13 : 590957.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200429.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200429.20,3648.9186,N,-12158.7987,W,1,03,00.5,050.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200430.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200430.20,3648.9184,N,-12158.7978,W,1,03,00.5,051.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200431.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200431.20,3648.9182,N,-12158.7968,W,1,03,00.5,051.4,M,-99.9,M,,*43 : TerrainNav update at nav time = 1160.000535 : TerrainNav update at dvl time = 1160.000535 : _navData-> (x,y) = (4074868.90, 590981.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200432.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200432.20,3648.9180,N,-12158.7958,W,1,03,00.5,051.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200433.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200433.20,3648.9178,N,-12158.7948,W,1,03,00.5,051.8,M,-99.9,M,,*4a : Estimated North Bias at time = 1160.00 : -34.78 : Estimated East Bias at time = 1160.00 : -17.33 : Estimated Depth Bias at time = 1160.00 : -1.11 : Estimated northing and easting = 4074834.12 : 590964.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200434.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200434.20,3648.9176,N,-12158.7939,W,1,03,00.5,051.6,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200435.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200435.20,3648.9174,N,-12158.7929,W,1,03,00.5,052.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200436.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200436.20,3648.9172,N,-12158.7920,W,1,03,00.5,051.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1165.000192 : TerrainNav update at dvl time = 1165.000192 : _navData-> (x,y) = (4074867.09, 590988.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200437.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200437.20,3648.9170,N,-12158.7910,W,1,03,00.5,052.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200438.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1165.00 : -34.98 : Estimated East Bias at time = 1165.00 : -17.23 : Estimated Depth Bias at time = 1165.00 : -1.11 : Estimated northing and easting = 4074832.11 : 590971.32 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200438.20,3648.9167,N,-12158.7900,W,1,03,00.5,051.5,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200439.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200439.20,3648.9165,N,-12158.7891,W,1,03,00.5,052.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200440.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200440.20,3648.9163,N,-12158.7881,W,1,03,00.5,052.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200441.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200441.20,3648.9160,N,-12158.7871,W,1,03,00.5,052.8,M,-99.9,M,,*4e : TerrainNav update at nav time = 1169.999850 : TerrainNav update at dvl time = 1169.999850 : _navData-> (x,y) = (4074864.98, 590995.78) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200442.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200442.20,3648.9158,N,-12158.7861,W,1,03,00.5,053.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200443.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1170.00 : -34.89 : Estimated East Bias at time = 1170.00 : -16.37 : Estimated Depth Bias at time = 1170.00 : -1.10 : Estimated northing and easting = 4074830.09 : 590979.40 : NMEA Update: $GPGGA,200443.20,3648.9155,N,-12158.7851,W,1,03,00.5,052.6,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200444.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200444.20,3648.9153,N,-12158.7842,W,1,03,00.5,054.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200445.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200445.20,3648.9151,N,-12158.7832,W,1,03,00.5,054.4,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200446.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200446.20,3648.9148,N,-12158.7822,W,1,03,00.5,053.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1174.999507 : TerrainNav update at dvl time = 1174.999507 : _navData-> (x,y) = (4074862.89, 591003.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200447.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200447.20,3648.9146,N,-12158.7812,W,1,03,00.5,054.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200448.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200448.20,3648.9144,N,-12158.7802,W,1,03,00.5,055.2,M,-99.9,M,,*48 : Estimated North Bias at time = 1175.00 : -34.96 : Estimated East Bias at time = 1175.00 : -15.71 : Estimated Depth Bias at time = 1175.00 : -1.10 : Estimated northing and easting = 4074827.93 : 590987.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200449.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200449.20,3648.9142,N,-12158.7793,W,1,03,00.5,054.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200450.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200450.20,3648.9140,N,-12158.7783,W,1,03,00.5,055.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200451.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200451.20,3648.9137,N,-12158.7773,W,1,03,00.5,055.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 1179.999165 : TerrainNav update at dvl time = 1179.999165 : _navData-> (x,y) = (4074860.92, 591010.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200452.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200452.20,3648.9135,N,-12158.7763,W,1,03,00.5,055.5,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200453.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200453.20,3648.9133,N,-12158.7754,W,1,03,00.5,055.7,M,-99.9,M,,*4b : Estimated North Bias at time = 1180.00 : -35.45 : Estimated East Bias at time = 1180.00 : -15.39 : Estimated Depth Bias at time = 1180.00 : -1.10 : Estimated northing and easting = 4074825.46 : 590995.00 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200454.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200454.20,3648.9130,N,-12158.7744,W,1,03,00.5,055.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200455.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200455.20,3648.9128,N,-12158.7734,W,1,03,00.5,057.2,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200456.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200456.20,3648.9126,N,-12158.7724,W,1,03,00.5,056.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 1184.998822 : TerrainNav update at dvl time = 1184.998822 : _navData-> (x,y) = (4074858.82, 591017.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200457.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200457.20,3648.9123,N,-12158.7715,W,1,03,00.5,057.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200458.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200458.20,3648.9121,N,-12158.7705,W,1,03,00.5,057.3,M,-99.9,M,,*41 : Estimated North Bias at time = 1185.00 : -36.01 : Estimated East Bias at time = 1185.00 : -17.05 : Estimated Depth Bias at time = 1185.00 : -1.10 : Estimated northing and easting = 4074822.81 : 591000.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200459.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200459.20,3648.9119,N,-12158.7695,W,1,03,00.5,058.2,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200500.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200500.20,3648.9117,N,-12158.7685,W,1,03,00.5,058.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200501.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200501.20,3648.9114,N,-12158.7675,W,1,03,00.5,058.2,M,-99.9,M,,*42 : TerrainNav update at nav time = 1189.998480 : TerrainNav update at dvl time = 1189.998480 : _navData-> (x,y) = (4074856.83, 591025.05) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200502.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200502.20,3648.9112,N,-12158.7665,W,1,03,00.5,058.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200503.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200503.20,3648.9110,N,-12158.7655,W,1,03,00.5,059.2,M,-99.9,M,,*47 : Estimated North Bias at time = 1190.00 : -36.73 : Estimated East Bias at time = 1190.00 : -16.35 : Estimated Depth Bias at time = 1190.00 : -1.11 : Estimated northing and easting = 4074820.10 : 591008.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200504.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200504.20,3648.9108,N,-12158.7645,W,1,03,00.5,058.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200505.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200505.20,3648.9106,N,-12158.7635,W,1,03,00.5,058.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200506.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200506.20,3648.9104,N,-12158.7625,W,1,03,00.5,058.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 1194.998137 : TerrainNav update at dvl time = 1194.998137 : _navData-> (x,y) = (4074854.93, 591032.49) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200507.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200507.20,3648.9102,N,-12158.7615,W,1,03,00.5,059.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200508.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200508.20,3648.9099,N,-12158.7605,W,1,03,00.5,059.2,M,-99.9,M,,*49 : Estimated North Bias at time = 1195.00 : -37.41 : Estimated East Bias at time = 1195.00 : -16.70 : Estimated Depth Bias at time = 1195.00 : -1.11 : Estimated northing and easting = 4074817.52 : 591015.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200509.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200509.20,3648.9097,N,-12158.7595,W,1,03,00.5,060.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200510.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200510.20,3648.9095,N,-12158.7586,W,1,03,00.5,059.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200511.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200511.20,3648.9092,N,-12158.7576,W,1,03,00.5,060.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1199.997795 : TerrainNav update at dvl time = 1199.997795 : _navData-> (x,y) = (4074852.90, 591039.75) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200512.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200512.20,3648.9090,N,-12158.7567,W,1,03,00.5,060.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200513.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200513.20,3648.9087,N,-12158.7557,W,1,03,00.5,061.2,M,-99.9,M,,*43 : Estimated North Bias at time = 1200.00 : -37.74 : Estimated East Bias at time = 1200.00 : -17.22 : Estimated Depth Bias at time = 1200.00 : -1.11 : Estimated northing and easting = 4074815.16 : 591022.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200514.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200514.20,3648.9085,N,-12158.7547,W,1,03,00.5,060.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200515.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200515.20,3648.9082,N,-12158.7538,W,1,03,00.5,061.4,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200516.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200516.20,3648.9080,N,-12158.7528,W,1,03,00.5,062.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 1204.997452 : TerrainNav update at dvl time = 1204.997452 : _navData-> (x,y) = (4074850.61, 591046.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200517.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200517.20,3648.9077,N,-12158.7518,W,1,03,00.5,062.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200518.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200518.20,3648.9074,N,-12158.7509,W,1,03,00.5,062.1,M,-99.9,M,,*4f : Estimated North Bias at time = 1205.00 : -38.23 : Estimated East Bias at time = 1205.00 : -17.68 : Estimated Depth Bias at time = 1205.00 : -1.11 : Estimated northing and easting = 4074812.39 : 591029.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200519.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200519.20,3648.9072,N,-12158.7499,W,1,03,00.5,062.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200520.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200520.20,3648.9069,N,-12158.7489,W,1,03,00.5,062.9,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200521.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200521.20,3648.9067,N,-12158.7479,W,1,03,00.5,063.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1209.997110 : TerrainNav update at dvl time = 1209.997110 : _navData-> (x,y) = (4074848.40, 591054.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200522.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200522.20,3648.9065,N,-12158.7470,W,1,03,00.5,063.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200523.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200523.20,3648.9063,N,-12158.7460,W,1,03,00.5,062.9,M,-99.9,M,,*47 : Estimated North Bias at time = 1210.00 : -38.70 : Estimated East Bias at time = 1210.00 : -17.79 : Estimated Depth Bias at time = 1210.00 : -1.11 : Estimated northing and easting = 4074809.70 : 591036.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200524.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200524.20,3648.9060,N,-12158.7450,W,1,03,00.5,063.5,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200525.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200525.20,3648.9058,N,-12158.7440,W,1,03,00.5,063.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200526.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200526.20,3648.9056,N,-12158.7430,W,1,03,00.5,062.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 1214.996767 : TerrainNav update at dvl time = 1214.996767 : _navData-> (x,y) = (4074846.40, 591061.51) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200527.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200527.20,3648.9054,N,-12158.7421,W,1,03,00.5,063.7,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200528.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200528.20,3648.9051,N,-12158.7411,W,1,03,00.5,063.7,M,-99.9,M,,*44 : Estimated North Bias at time = 1215.00 : -39.25 : Estimated East Bias at time = 1215.00 : -16.91 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated Depth Bias at time = 1215.00 : -1.11 : Estimated northing and easting = 4074807.16 : 591044.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200529.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200529.20,3648.9049,N,-12158.7401,W,1,03,00.5,064.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200530.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200530.20,3648.9047,N,-12158.7391,W,1,03,00.5,063.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200531.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200531.20,3648.9044,N,-12158.7382,W,1,03,00.5,064.0,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1219.996424 : TerrainNav update at dvl time = 1219.996424 : _navData-> (x,y) = (4074844.36, 591068.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200532.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200532.20,3648.9042,N,-12158.7372,W,1,03,00.5,065.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200533.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200533.20,3648.9040,N,-12158.7363,W,1,03,00.5,065.0,M,-99.9,M,,*4d : Estimated North Bias at time = 1220.00 : -40.16 : Estimated East Bias at time = 1220.00 : -17.28 : Estimated Depth Bias at time = 1220.00 : -1.11 : Estimated northing and easting = 4074804.20 : 591051.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200534.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200534.20,3648.9038,N,-12158.7353,W,1,03,00.5,065.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200535.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200535.20,3648.9035,N,-12158.7344,W,1,03,00.5,066.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200536.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200536.20,3648.9033,N,-12158.7334,W,1,03,00.5,066.0,M,-99.9,M,,*4d : TerrainNav update at nav time = 1224.996082 : TerrainNav update at dvl time = 1224.996082 : _navData-> (x,y) = (4074842.41, 591075.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200537.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200537.20,3648.9031,N,-12158.7325,W,1,03,00.5,065.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200538.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200538.20,3648.9029,N,-12158.7315,W,1,03,00.5,066.5,M,-99.9,M,,*4e : Estimated North Bias at time = 1225.00 : -40.79 : Estimated East Bias at time = 1225.00 : -17.73 : Estimated Depth Bias at time = 1225.00 : -1.11 : Estimated northing and easting = 4074801.61 : 591058.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200539.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200539.20,3648.9028,N,-12158.7305,W,1,03,00.5,066.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200540.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200540.20,3648.9026,N,-12158.7295,W,1,03,00.5,066.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200541.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200541.20,3648.9024,N,-12158.7286,W,1,03,00.5,067.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 1229.995739 : TerrainNav update at dvl time = 1229.995739 : _navData-> (x,y) = (4074840.78, 591083.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200542.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200542.20,3648.9022,N,-12158.7276,W,1,03,00.5,067.1,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200543.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200543.20,3648.9020,N,-12158.7266,W,1,03,00.5,067.5,M,-99.9,M,,*4f : Estimated North Bias at time = 1230.00 : -41.19 : Estimated East Bias at time = 1230.00 : -18.30 : Estimated Depth Bias at time = 1230.00 : -1.11 : Estimated northing and easting = 4074799.58 : 591064.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200544.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200544.20,3648.9019,N,-12158.7256,W,1,03,00.5,067.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200545.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200545.20,3648.9017,N,-12158.7247,W,1,03,00.5,067.5,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200546.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200546.20,3648.9015,N,-12158.7238,W,1,03,00.5,068.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1234.995397 : TerrainNav update at dvl time = 1234.995397 : _navData-> (x,y) = (4074839.13, 591090.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200547.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200547.20,3648.9013,N,-12158.7229,W,1,03,00.5,067.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200548.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200548.20,3648.9011,N,-12158.7220,W,1,03,00.5,068.2,M,-99.9,M,,*4c : Estimated North Bias at time = 1235.00 : -41.55 : Estimated East Bias at time = 1235.00 : -17.52 : Estimated Depth Bias at time = 1235.00 : -1.11 : Estimated northing and easting = 4074797.58 : 591072.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200549.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200549.20,3648.9009,N,-12158.7210,W,1,03,00.5,069.0,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200550.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200550.20,3648.9007,N,-12158.7201,W,1,03,00.5,068.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200551.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200551.20,3648.9005,N,-12158.7192,W,1,03,00.5,068.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 1239.995054 : TerrainNav update at dvl time = 1239.995054 : _navData-> (x,y) = (4074837.33, 591097.01) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200552.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200552.20,3648.9003,N,-12158.7183,W,1,03,00.5,069.7,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200553.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200553.20,3648.9001,N,-12158.7173,W,1,03,00.5,068.5,M,-99.9,M,,*45 : Estimated North Bias at time = 1240.00 : -42.25 : Estimated East Bias at time = 1240.00 : -16.48 : Estimated Depth Bias at time = 1240.00 : -1.11 : Estimated northing and easting = 4074795.08 : 591080.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200554.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200554.20,3648.8999,N,-12158.7164,W,1,03,00.5,069.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200555.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200555.20,3648.8997,N,-12158.7154,W,1,03,00.5,069.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200556.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200556.20,3648.8995,N,-12158.7145,W,1,03,00.5,069.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1244.994712 : TerrainNav update at dvl time = 1244.994712 : _navData-> (x,y) = (4074835.58, 591104.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,200557.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200557.20,3648.8993,N,-12158.7135,W,1,03,00.5,070.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200558.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200558.20,3648.8991,N,-12158.7126,W,1,03,00.5,069.3,M,-99.9,M,,*48 : Estimated North Bias at time = 1244.99 : -42.67 : Estimated East Bias at time = 1244.99 : -16.75 : Estimated Depth Bias at time = 1244.99 : -1.11 : Estimated northing and easting = 4074792.91 : 591087.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200559.01,3648.8989,N,-12158.7117,W,1,03,00.5,070.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200559.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200600.01,3648.8987,N,-12158.7108,W,1,03,00.5,070.2,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200600.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200601.01,3648.8985,N,-12158.7099,W,1,03,00.5,069.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200601.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1249.994370 : TerrainNav update at dvl time = 1249.994370 : _navData-> (x,y) = (4074833.85, 591110.90) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200602.01,3648.8983,N,-12158.7090,W,1,03,00.5,070.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200602.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200603.01,3648.8981,N,-12158.7080,W,1,03,00.5,071.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200603.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1249.99 : -43.00 : Estimated East Bias at time = 1249.99 : -17.69 : Estimated Depth Bias at time = 1249.99 : -1.11 : Estimated northing and easting = 4074790.85 : 591093.21 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200604.01,3648.8979,N,-12158.7071,W,1,03,00.5,070.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200604.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200605.01,3648.8977,N,-12158.7061,W,1,03,00.5,070.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200605.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200606.01,3648.8975,N,-12158.7052,W,1,03,00.5,069.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200606.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1254.994027 : TerrainNav update at dvl time = 1254.994027 : _navData-> (x,y) = (4074831.96, 591117.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200607.01,3648.8972,N,-12158.7042,W,1,03,00.5,070.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200607.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200608.01,3648.8970,N,-12158.7033,W,1,03,00.5,071.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200608.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1254.99 : -43.18 : Estimated East Bias at time = 1254.99 : -19.38 : Estimated Depth Bias at time = 1254.99 : -1.11 : Estimated northing and easting = 4074788.79 : 591098.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200609.01,3648.8968,N,-12158.7024,W,1,03,00.5,070.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200609.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200610.01,3648.8965,N,-12158.7015,W,1,03,00.5,071.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200610.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200611.01,3648.8963,N,-12158.7006,W,1,03,00.5,071.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200611.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1259.993685 : TerrainNav update at dvl time = 1259.993685 : _navData-> (x,y) = (4074829.86, 591124.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200612.01,3648.8960,N,-12158.6997,W,1,03,00.5,071.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200612.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200613.01,3648.8958,N,-12158.6988,W,1,03,00.5,070.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200613.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1259.99 : -43.40 : Estimated East Bias at time = 1259.99 : -19.08 : Estimated Depth Bias at time = 1259.99 : -1.11 : Estimated northing and easting = 4074786.47 : 591105.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200614.01,3648.8956,N,-12158.6979,W,1,03,00.5,071.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200614.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200615.01,3648.8953,N,-12158.6969,W,1,03,00.5,071.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200615.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200616.01,3648.8951,N,-12158.6960,W,1,03,00.5,072.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200616.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1264.993342 : TerrainNav update at dvl time = 1264.993342 : _navData-> (x,y) = (4074827.73, 591131.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200617.01,3648.8949,N,-12158.6951,W,1,03,00.5,071.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200617.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200618.01,3648.8946,N,-12158.6941,W,1,03,00.5,072.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200618.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1264.99 : -43.87 : Estimated East Bias at time = 1264.99 : -19.84 : Estimated Depth Bias at time = 1264.99 : -1.11 : Estimated northing and easting = 4074783.87 : 591111.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200619.01,3648.8944,N,-12158.6931,W,1,03,00.5,071.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200619.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200620.01,3648.8942,N,-12158.6922,W,1,03,00.5,072.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200620.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200621.01,3648.8939,N,-12158.6912,W,1,03,00.5,070.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200621.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1269.993000 : TerrainNav update at dvl time = 1269.993000 : _navData-> (x,y) = (4074825.64, 591138.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200622.01,3648.8937,N,-12158.6904,W,1,03,00.5,072.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200622.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200623.01,3648.8935,N,-12158.6895,W,1,03,00.5,070.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200623.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1269.99 : -44.49 : Estimated East Bias at time = 1269.99 : -20.28 : Estimated Depth Bias at time = 1269.99 : -1.11 : Estimated northing and easting = 4074781.16 : 591118.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200624.01,3648.8932,N,-12158.6886,W,1,03,00.5,072.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200624.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200625.01,3648.8929,N,-12158.6877,W,1,03,00.5,072.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200625.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200626.01,3648.8927,N,-12158.6867,W,1,03,00.5,072.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200626.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1275.002656 : TerrainNav update at dvl time = 1275.002656 : _navData-> (x,y) = (4074823.26, 591145.67) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200627.01,3648.8924,N,-12158.6858,W,1,03,00.5,072.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200627.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200628.01,3648.8921,N,-12158.6849,W,1,03,00.5,072.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200628.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1275.00 : -45.01 : Estimated East Bias at time = 1275.00 : -20.09 : Estimated Depth Bias at time = 1275.00 : -1.11 : Estimated northing and easting = 4074778.25 : 591125.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200629.01,3648.8918,N,-12158.6840,W,1,03,00.5,071.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200629.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200630.01,3648.8916,N,-12158.6831,W,1,03,00.5,072.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200630.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200631.01,3648.8913,N,-12158.6821,W,1,03,00.5,072.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200631.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1280.002314 : TerrainNav update at dvl time = 1280.002314 : _navData-> (x,y) = (4074820.87, 591152.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200632.01,3648.8911,N,-12158.6812,W,1,03,00.5,071.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200632.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200633.01,3648.8908,N,-12158.6802,W,1,03,00.5,071.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200633.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1280.00 : -45.51 : Estimated East Bias at time = 1280.00 : -19.79 : Estimated Depth Bias at time = 1280.00 : -1.11 : Estimated northing and easting = 4074775.36 : 591132.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200634.01,3648.8906,N,-12158.6792,W,1,03,00.5,072.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200634.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200635.01,3648.8904,N,-12158.6783,W,1,03,00.5,072.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200635.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200636.01,3648.8902,N,-12158.6773,W,1,03,00.5,071.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200636.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1285.001971 : TerrainNav update at dvl time = 1285.001971 : _navData-> (x,y) = (4074818.96, 591159.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200637.01,3648.8900,N,-12158.6763,W,1,03,00.5,072.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200637.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200638.01,3648.8898,N,-12158.6754,W,1,03,00.5,072.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200638.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1285.00 : -45.96 : Estimated East Bias at time = 1285.00 : -20.69 : Estimated Depth Bias at time = 1285.00 : -1.11 : Estimated northing and easting = 4074773.00 : 591139.15 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200639.01,3648.8896,N,-12158.6744,W,1,03,00.5,071.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200639.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200640.01,3648.8894,N,-12158.6734,W,1,03,00.5,072.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200640.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200641.01,3648.8892,N,-12158.6724,W,1,03,00.5,072.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200641.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4074817.27, 591167.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200642.01,3648.8891,N,-12158.6715,W,1,03,00.5,072.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200642.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200643.01,3648.8889,N,-12158.6705,W,1,03,00.5,073.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200643.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1290.00 : -46.47 : Estimated East Bias at time = 1290.00 : -20.18 : Estimated Depth Bias at time = 1290.00 : -1.11 : Estimated northing and easting = 4074770.80 : 591146.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200644.01,3648.8887,N,-12158.6695,W,1,03,00.5,071.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200644.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200645.01,3648.8886,N,-12158.6686,W,1,03,00.5,072.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200645.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200646.01,3648.8884,N,-12158.6676,W,1,03,00.5,071.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200646.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1295.001286 : TerrainNav update at dvl time = 1295.001286 : _navData-> (x,y) = (4074815.90, 591174.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200647.01,3648.8883,N,-12158.6667,W,1,03,00.5,072.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200647.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200648.01,3648.8882,N,-12158.6658,W,1,03,00.5,070.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200648.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1295.00 : -46.82 : Estimated East Bias at time = 1295.00 : -20.91 : Estimated Depth Bias at time = 1295.00 : -1.11 : Estimated northing and easting = 4074769.08 : 591153.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200649.01,3648.8881,N,-12158.6648,W,1,03,00.5,071.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200649.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200650.01,3648.8879,N,-12158.6639,W,1,03,00.5,072.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200650.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200651.01,3648.8878,N,-12158.6629,W,1,03,00.5,072.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200651.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1300.000944 : TerrainNav update at dvl time = 1300.000944 : _navData-> (x,y) = (4074814.85, 591181.31) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200652.01,3648.8877,N,-12158.6619,W,1,03,00.5,072.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200652.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200653.01,3648.8876,N,-12158.6609,W,1,03,00.5,071.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200653.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1300.00 : -47.29 : Estimated East Bias at time = 1300.00 : -19.60 : Estimated Depth Bias at time = 1300.00 : -1.11 : Estimated northing and easting = 4074767.56 : 591161.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200654.01,3648.8874,N,-12158.6600,W,1,03,00.5,072.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200654.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200655.00,3648.8873,N,-12158.6590,W,1,03,00.5,072.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200655.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200656.00,3648.8871,N,-12158.6581,W,1,03,00.5,073.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200656.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1305.000601 : TerrainNav update at dvl time = 1305.000601 : _navData-> (x,y) = (4074813.59, 591188.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200657.00,3648.8870,N,-12158.6571,W,1,03,00.5,073.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200657.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200658.00,3648.8868,N,-12158.6562,W,1,03,00.5,073.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200658.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1305.00 : -47.16 : Estimated East Bias at time = 1305.00 : -20.61 : Estimated Depth Bias at time = 1305.00 : -1.11 : Estimated northing and easting = 4074766.43 : 591167.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200659.00,3648.8866,N,-12158.6553,W,1,03,00.5,073.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200659.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200700.00,3648.8864,N,-12158.6544,W,1,03,00.5,072.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200700.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200701.00,3648.8862,N,-12158.6535,W,1,03,00.5,073.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200701.00,,,,,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) = (4074811.85, 591195.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200702.00,3648.8859,N,-12158.6526,W,1,03,00.5,073.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200702.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200703.00,3648.8857,N,-12158.6517,W,1,03,00.5,073.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200703.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1310.00 : -47.11 : Estimated East Bias at time = 1310.00 : -20.53 : Estimated Depth Bias at time = 1310.00 : -1.11 : Estimated northing and easting = 4074764.74 : 591174.65 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200704.00,3648.8854,N,-12158.6508,W,1,03,00.5,073.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200704.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200705.00,3648.8852,N,-12158.6499,W,1,03,00.5,074.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200705.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200706.00,3648.8849,N,-12158.6490,W,1,03,00.5,074.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200706.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1314.999916 : TerrainNav update at dvl time = 1314.999916 : _navData-> (x,y) = (4074809.54, 591201.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200707.00,3648.8846,N,-12158.6482,W,1,03,00.5,073.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200707.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200708.00,3648.8843,N,-12158.6472,W,1,03,00.5,064.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200708.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1315.00 : -47.19 : Estimated East Bias at time = 1315.00 : -19.20 : Estimated Depth Bias at time = 1315.00 : -1.11 : Estimated northing and easting = 4074762.35 : 591182.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200709.00,3648.8841,N,-12158.6463,W,1,03,00.5,065.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200709.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200710.00,3648.8837,N,-12158.6454,W,1,03,00.5,066.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200710.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200711.00,3648.8835,N,-12158.6445,W,1,03,00.5,065.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200711.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1319.999574 : TerrainNav update at dvl time = 1319.999574 : _navData-> (x,y) = (4074806.92, 591208.73) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200712.00,3648.8832,N,-12158.6435,W,1,03,00.5,066.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200712.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200713.00,3648.8829,N,-12158.6426,W,1,03,00.5,065.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200713.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1320.00 : -47.17 : Estimated East Bias at time = 1320.00 : -19.46 : Estimated Depth Bias at time = 1320.00 : -1.11 : Estimated northing and easting = 4074759.76 : 591189.27 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200714.00,3648.8827,N,-12158.6417,W,1,03,00.5,064.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200714.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200715.00,3648.8825,N,-12158.6408,W,1,03,00.5,065.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200715.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200716.00,3648.8822,N,-12158.6399,W,1,03,00.5,065.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200716.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1324.999231 : TerrainNav update at dvl time = 1324.999231 : _navData-> (x,y) = (4074804.83, 591215.62) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200717.00,3648.8820,N,-12158.6389,W,1,03,00.5,065.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200717.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200718.00,3648.8818,N,-12158.6379,W,1,03,00.5,065.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200718.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1325.00 : -47.44 : Estimated East Bias at time = 1325.00 : -21.15 : Estimated Depth Bias at time = 1325.00 : -1.11 : Estimated northing and easting = 4074757.38 : 591194.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200719.00,3648.8816,N,-12158.6370,W,1,03,00.5,065.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200719.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200720.00,3648.8814,N,-12158.6360,W,1,03,00.5,066.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200720.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200721.00,3648.8812,N,-12158.6351,W,1,03,00.5,066.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200721.00,,,,,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) = (4074802.94, 591222.72) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200722.00,3648.8810,N,-12158.6341,W,1,03,00.5,065.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200722.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200723.00,3648.8808,N,-12158.6332,W,1,03,00.5,067.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200723.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1330.00 : -47.42 : Estimated East Bias at time = 1330.00 : -19.50 : Estimated Depth Bias at time = 1330.00 : -1.11 : Estimated northing and easting = 4074755.52 : 591203.22 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200724.00,3648.8805,N,-12158.6323,W,1,03,00.5,066.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200724.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200725.00,3648.8804,N,-12158.6314,W,1,03,00.5,066.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200725.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200726.00,3648.8801,N,-12158.6305,W,1,03,00.5,067.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200726.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1334.998546 : TerrainNav update at dvl time = 1334.998546 : _navData-> (x,y) = (4074801.08, 591229.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200727.00,3648.8799,N,-12158.6295,W,1,03,00.5,066.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200727.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200728.00,3648.8797,N,-12158.6285,W,1,03,00.5,067.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200728.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1335.00 : -47.37 : Estimated East Bias at time = 1335.00 : -18.10 : Estimated Depth Bias at time = 1335.00 : -1.11 : Estimated northing and easting = 4074753.72 : 591211.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200729.00,3648.8795,N,-12158.6275,W,1,03,00.5,067.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200729.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200730.00,3648.8793,N,-12158.6265,W,1,03,00.5,066.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200730.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200731.00,3648.8791,N,-12158.6255,W,1,03,00.5,067.1,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200731.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1339.998204 : TerrainNav update at dvl time = 1339.998204 : _navData-> (x,y) = (4074799.24, 591237.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200732.00,3648.8789,N,-12158.6245,W,1,03,00.5,073.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200732.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200733.00,3648.8787,N,-12158.6236,W,1,03,00.5,073.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200733.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1340.00 : -47.69 : Estimated East Bias at time = 1340.00 : -19.19 : Estimated Depth Bias at time = 1340.00 : -1.10 : Estimated northing and easting = 4074751.55 : 591217.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200734.00,3648.8785,N,-12158.6227,W,1,03,00.5,075.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200734.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200735.00,3648.8783,N,-12158.6218,W,1,03,00.5,068.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200735.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200736.00,3648.8781,N,-12158.6210,W,1,03,00.5,070.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200736.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1344.997861 : TerrainNav update at dvl time = 1344.997861 : _navData-> (x,y) = (4074797.42, 591243.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200737.00,3648.8779,N,-12158.6201,W,1,03,00.5,072.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200737.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200738.00,3648.8777,N,-12158.6192,W,1,03,00.5,071.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200738.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1345.00 : -48.09 : Estimated East Bias at time = 1345.00 : -18.75 : Estimated Depth Bias at time = 1345.00 : -1.10 : Estimated northing and easting = 4074749.33 : 591224.94 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200739.00,3648.8775,N,-12158.6183,W,1,03,00.5,073.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200739.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200740.00,3648.8773,N,-12158.6174,W,1,03,00.5,073.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200740.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200741.00,3648.8770,N,-12158.6163,W,1,03,00.5,074.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200741.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1349.997519 : TerrainNav update at dvl time = 1349.997519 : _navData-> (x,y) = (4074795.49, 591250.74) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200742.00,3648.8768,N,-12158.6153,W,1,03,00.5,074.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200742.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200743.00,3648.8765,N,-12158.6143,W,1,03,00.5,074.4,M,-99.9,M,,*4e : Estimated North Bias at time = 1350.00 : -48.13 : Estimated East Bias at time = 1350.00 : -19.41 : Estimated Depth Bias at time = 1350.00 : -1.10 : Estimated northing and easting = 4074747.36 : 591231.33 : AshtechGps::processRecord() - $GPGGA,200743.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200744.00,3648.8763,N,-12158.6133,W,1,03,00.5,082.8,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=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200745.00,3648.8761,N,-12158.6123,W,1,03,00.5,073.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200745.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200746.00,3648.8759,N,-12158.6114,W,1,03,00.5,073.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200746.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1354.997176 : TerrainNav update at dvl time = 1354.997176 : _navData-> (x,y) = (4074793.49, 591258.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200747.00,3648.8756,N,-12158.6105,W,1,03,00.5,072.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200747.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1355.00 : -48.35 : Estimated East Bias at time = 1355.00 : -19.49 : Estimated Depth Bias at time = 1355.00 : -1.10 : Estimated northing and easting = 4074745.14 : 591238.53 : NMEA Update: $GPGGA,200748.00,3648.8754,N,-12158.6096,W,1,03,00.5,072.6,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200748.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200749.00,3648.8752,N,-12158.6087,W,1,03,00.5,072.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200749.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200750.00,3648.8750,N,-12158.6079,W,1,03,00.5,073.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200750.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200751.00,3648.8749,N,-12158.6070,W,1,03,00.5,072.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200751.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1359.996834 : TerrainNav update at dvl time = 1359.996834 : _navData-> (x,y) = (4074791.73, 591264.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200752.00,3648.8747,N,-12158.6061,W,1,03,00.5,079.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200752.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200753.00,3648.8744,N,-12158.6051,W,1,03,00.5,070.6,M,-99.9,M,,*48 : Estimated North Bias at time = 1360.00 : -48.30 : Estimated East Bias at time = 1360.00 : -20.87 : Estimated Depth Bias at time = 1360.00 : -1.10 : Estimated northing and easting = 4074743.43 : 591243.72 : AshtechGps::processRecord() - $GPGGA,200753.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200754.00,3648.8741,N,-12158.6041,W,1,03,00.5,070.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200754.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200755.00,3648.8738,N,-12158.6030,W,1,03,00.5,069.4,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=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200756.00,3648.8735,N,-12158.6020,W,1,03,00.5,068.8,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200756.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1364.996491 : TerrainNav update at dvl time = 1364.996491 : _navData-> (x,y) = (4074789.19, 591272.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200757.00,3648.8732,N,-12158.6010,W,1,03,00.5,068.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200757.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1365.00 : -48.52 : Estimated East Bias at time = 1365.00 : -20.55 : Estimated Depth Bias at time = 1365.00 : -1.10 : Estimated northing and easting = 4074740.67 : 591251.50 : NMEA Update: $GPGGA,200758.00,3648.8729,N,-12158.6001,W,1,03,00.5,067.4,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200758.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200759.00,3648.8726,N,-12158.5991,W,1,03,00.5,068.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200759.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200800.00,3648.8724,N,-12158.5981,W,1,03,00.5,067.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200800.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200801.00,3648.8721,N,-12158.5971,W,1,03,00.5,068.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200801.00,,,,,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) = (4074786.69, 591279.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200802.00,3648.8718,N,-12158.5962,W,1,03,00.5,066.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200802.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1370.00 : -48.31 : Estimated East Bias at time = 1370.00 : -19.17 : Estimated Depth Bias at time = 1370.00 : -1.10 : Estimated northing and easting = 4074738.38 : 591260.18 : NMEA Update: $GPGGA,200803.00,3648.8716,N,-12158.5952,W,1,03,00.5,067.3,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=30.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200804.00,3648.8714,N,-12158.5942,W,1,03,00.5,066.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200804.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074786.1, 591284.1), reached at t = 1416.19 (wplog) : Vehicle Position is error is (0.9, 0.0) : LayeredControl::execute() -- (t = 1416.192984) Behavior waypoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1416.192984) Behavior ascend:-1 has changed to state Active : NMEA Update: $GPGGA,200805.00,3648.8711,N,-12158.5932,W,1,03,00.5,067.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200805.00,,,,,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,200806.00,3648.8708,N,-12158.5922,W,1,03,00.5,067.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200806.00,,,,,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 : TerrainNav update at nav time = 1374.995806 : TerrainNav update at dvl time = 1374.995806 : _navData-> (x,y) = (4074784.47, 591286.72) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200807.00,3648.8706,N,-12158.5912,W,1,03,00.5,065.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200807.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1375.00 : -48.02 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated East Bias at time = 1375.00 : -18.09 : Estimated Depth Bias at time = 1375.00 : -1.09 : Estimated northing and easting = 4074736.45 : 591268.63 : NMEA Update: $GPGGA,200808.00,3648.8704,N,-12158.5902,W,1,03,00.5,066.0,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200808.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200809.00,3648.8703,N,-12158.5892,W,1,03,00.5,062.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200809.00,,,,,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,200810.00,3648.8703,N,-12158.5882,W,1,03,00.5,061.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200810.00,,,,,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,200811.00,3648.8704,N,-12158.5872,W,1,03,00.5,060.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200811.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1379.995464 : TerrainNav update at dvl time = 1379.995464 : _navData-> (x,y) = (4074784.11, 591294.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200812.00,3648.8705,N,-12158.5863,W,1,03,00.5,061.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200812.00,,,,,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,200813.00,3648.8707,N,-12158.5855,W,1,03,00.5,062.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200813.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1380.00 : -48.30 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated East Bias at time = 1380.00 : -18.59 : Estimated Depth Bias at time = 1380.00 : -1.09 : Estimated northing and easting = 4074735.81 : 591275.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200814.00,3648.8709,N,-12158.5847,W,1,03,00.5,062.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200814.00,,,,,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,200815.00,3648.8712,N,-12158.5840,W,1,03,00.5,063.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200816.00,3648.8715,N,-12158.5833,W,1,03,00.5,063.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200816.00,,,,,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 : TerrainNav update at nav time = 1384.995121 : TerrainNav update at dvl time = 1384.995121 : _navData-> (x,y) = (4074786.55, 591299.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200817.00,3648.8719,N,-12158.5826,W,1,03,00.5,064.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200817.00,,,,,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,200818.00,3648.8723,N,-12158.5820,W,1,03,00.5,064.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200818.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1385.00 : -48.32 : Estimated East Bias at time = 1385.00 : -18.15 : Estimated Depth Bias at time = 1385.00 : -1.08 : Estimated northing and easting = 4074738.23 : 591281.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200819.00,3648.8728,N,-12158.5815,W,1,03,00.5,064.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200819.00,,,,,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 : NMEA Update: $GPGGA,200820.00,3648.8733,N,-12158.5810,W,1,03,00.5,065.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200820.00,,,,,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,200821.00,3648.8738,N,-12158.5806,W,1,03,00.5,065.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200821.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1389.994779 : TerrainNav update at dvl time = 1389.994779 : _navData-> (x,y) = (4074791.08, 591303.46) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200822.00,3648.8744,N,-12158.5802,W,1,03,00.5,065.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200822.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200823.00,3648.8751,N,-12158.5798,W,1,03,00.5,066.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200823.00,,,,,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 : Estimated North Bias at time = 1389.99 : -48.38 : Estimated East Bias at time = 1389.99 : -17.00 : Estimated Depth Bias at time = 1389.99 : -1.08 : Estimated northing and easting = 4074742.70 : 591286.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200824.00,3648.8757,N,-12158.5795,W,1,03,00.5,067.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200824.00,,,,,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,200824.81,3648.8765,N,-12158.5793,W,1,03,00.5,069.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,200825.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200825.81,3648.8772,N,-12158.5791,W,1,03,00.5,068.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200826.00,,,,,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 : TerrainNav update at nav time = 1394.994436 : TerrainNav update at dvl time = 1394.994436 : _navData-> (x,y) = (4074797.50, 591305.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200826.81,3648.8779,N,-12158.5790,W,1,03,00.5,070.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,200827.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1394.99 : -48.43 : Estimated East Bias at time = 1394.99 : -16.91 : Estimated Depth Bias at time = 1394.99 : -1.08 : Estimated northing and easting = 4074749.07 : 591288.32 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200827.81,3648.8787,N,-12158.5790,W,1,03,00.5,071.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200828.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200828.81,3648.8794,N,-12158.5791,W,1,03,00.5,075.8,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,200829.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200829.81,3648.8801,N,-12158.5793,W,1,03,00.5,075.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200830.00,,,,,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,200830.81,3648.8808,N,-12158.5796,W,1,03,00.5,075.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200831.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1399.994094 : TerrainNav update at dvl time = 1399.994094 : _navData-> (x,y) = (4074803.89, 591303.92) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200831.81,3648.8813,N,-12158.5801,W,1,03,00.5,075.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200832.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1399.99 : -48.24 : Estimated East Bias at time = 1399.99 : -16.52 : Estimated Depth Bias at time = 1399.99 : -1.08 : Estimated northing and easting = 4074755.65 : 591287.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200832.81,3648.8818,N,-12158.5806,W,1,03,00.5,076.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200833.00,,,,,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,200833.81,3648.8822,N,-12158.5811,W,1,03,00.5,078.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200834.00,,,,,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,200834.81,3648.8826,N,-12158.5817,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,200835.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200835.81,3648.8829,N,-12158.5824,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,200836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1404.993751 : TerrainNav update at dvl time = 1404.993751 : _navData-> (x,y) = (4074807.43, 591299.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200836.81,3648.8831,N,-12158.5830,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : Estimated North Bias at time = 1404.99 : -48.27 : Estimated East Bias at time = 1404.99 : -16.56 : Estimated Depth Bias at time = 1404.99 : -1.08 : Estimated northing and easting = 4074759.15 : 591283.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200837.00,,,,,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,200837.81,3648.8833,N,-12158.5837,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,200838.00,,,,,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,200838.81,3648.8833,N,-12158.5844,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,200839.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200839.81,3648.8833,N,-12158.5850,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,200840.00,,,,,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,200840.81,3648.8832,N,-12158.5857,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,200841.00,,,,,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 : TerrainNav update at nav time = 1409.993409 : TerrainNav update at dvl time = 1409.993409 : _navData-> (x,y) = (4074807.43, 591294.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200841.81,3648.8830,N,-12158.5864,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : Estimated North Bias at time = 1409.99 : -48.27 : Estimated East Bias at time = 1409.99 : -16.55 : Estimated Depth Bias at time = 1409.99 : -1.08 : Estimated northing and easting = 4074759.16 : 591278.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200842.81,3648.8827,N,-12158.5872,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,200843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200843.81,3648.8824,N,-12158.5878,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,200844.00,,,,,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,200844.81,3648.8822,N,-12158.5882,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,200845.00,,,,,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,200845.81,3648.8818,N,-12158.5884,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,200846.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1414.993066 : TerrainNav update at dvl time = 1414.993066 : _navData-> (x,y) = (4074804.64, 591291.06) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200846.81,3648.8814,N,-12158.5886,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,200847.00,,,,,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 = 1414.99 : -48.25 : Estimated East Bias at time = 1414.99 : -17.58 : Estimated Depth Bias at time = 1414.99 : -1.08 : Estimated northing and easting = 4074756.38 : 591273.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200847.81,3648.8809,N,-12158.5889,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,200848.00,,,,,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,200848.81,3648.8804,N,-12158.5891,W,1,03,00.5,093.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200849.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200849.81,3648.8799,N,-12158.5893,W,1,03,00.5,092.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,200850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200850.81,3648.8794,N,-12158.5894,W,1,03,00.5,091.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200851.00,,,,,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 : TerrainNav update at nav time = 1420.002723 : TerrainNav update at dvl time = 1420.002723 : _navData-> (x,y) = (4074799.94, 591289.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200851.81,3648.8790,N,-12158.5894,W,1,03,00.5,092.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200852.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1420.00 : -48.10 : Estimated East Bias at time = 1420.00 : -17.26 : Estimated Depth Bias at time = 1420.00 : -1.08 : Estimated northing and easting = 4074751.84 : 591272.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,200852.81,3648.8784,N,-12158.5892,W,1,03,00.5,090.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200853.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200853.81,3648.8776,N,-12158.5891,W,1,03,00.5,089.0,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200854.00,,,,,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,200854.81,3648.8771,N,-12158.5890,W,1,03,00.5,090.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200855.00,,,,,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,200855.81,3648.8766,N,-12158.5888,W,1,03,00.5,090.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200856.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1425.002381 : TerrainNav update at dvl time = 1425.002381 : _navData-> (x,y) = (4074794.72, 591291.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200856.81,3648.8761,N,-12158.5885,W,1,03,00.5,092.7,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,200857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1425.00 : -48.13 : Estimated East Bias at time = 1425.00 : -17.31 : Estimated Depth Bias at time = 1425.00 : -1.08 : Estimated northing and easting = 4074746.58 : 591273.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200857.81,3648.8758,N,-12158.5879,W,1,03,00.5,091.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200858.00,,,,,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,200858.81,3648.8755,N,-12158.5871,W,1,03,00.5,089.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200859.00,,,,,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,200859.81,3648.8753,N,-12158.5861,W,1,03,00.5,088.6,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,200900.81,3648.8751,N,-12158.5852,W,1,03,00.5,089.1,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200901.00,,,,,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 : LayeredControl::execute() -- (t = 1472.799106) Behavior ascend:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 1472.999093) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1472.999093) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 1472.999093) Behavior missionTimer:-1 has changed to state Active : TerrainNav update at nav time = 1430.002038 : TerrainNav update at dvl time = 1430.002038 : _navData-> (x,y) = (4074792.52, 591297.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200901.81,3648.8750,N,-12158.5844,W,1,03,00.5,088.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200902.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1430.00 : -48.17 : Estimated East Bias at time = 1430.00 : -17.40 : Estimated Depth Bias at time = 1430.00 : -1.08 : Estimated northing and easting = 4074744.35 : 591279.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200902.81,3648.8749,N,-12158.5837,W,1,03,00.5,092.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200903.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200903.81,3648.8749,N,-12158.5832,W,1,03,00.5,091.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200904.81,3648.8749,N,-12158.5828,W,1,03,00.5,088.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200905.00,,,,,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,200905.81,3648.8749,N,-12158.5822,W,1,03,00.5,091.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200906.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1435.001696 : TerrainNav update at dvl time = 1435.001696 : _navData-> (x,y) = (4074792.40, 591301.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200906.81,3648.8749,N,-12158.5814,W,1,03,00.5,092.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,200907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1435.00 : -48.10 : Estimated East Bias at time = 1435.00 : -17.01 : Estimated Depth Bias at time = 1435.00 : -1.08 : Estimated northing and easting = 4074744.30 : 591284.62 : NMEA Update: $GPGGA,200907.81,3648.8750,N,-12158.5807,W,1,03,00.5,087.7,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200908.81,3648.8751,N,-12158.5802,W,1,03,00.5,093.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200909.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200909.81,3648.8752,N,-12158.5796,W,1,03,00.5,093.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,200910.81,3648.8753,N,-12158.5789,W,1,03,00.5,091.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200911.00,3648.84099,N,12158.59203,W,1,04,1.9,-2.83,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1440.001353 : TerrainNav update at dvl time = 1440.001353 : _navData-> (x,y) = (4074729.54, 591286.88) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200911.81,3648.8410,N,-12158.5919,W,1,03,00.5,090.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,200912.00,3648.84146,N,12158.59137,W,1,05,1.4,-3.58,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200912.81,3648.8415,N,-12158.5913,W,1,03,00.5,087.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,200913.00,3648.84146,N,12158.59107,W,1,06,1.4,-5.13,M,-32.96,M,,*7E : NMEA Update: $GPGGA,200913.81,3648.8415,N,-12158.5910,W,1,03,00.5,094.4,M,-99.9,M,,*4b : Estimated North Bias at time = 1440.00 : -34.65 : Estimated East Bias at time = 1440.00 : -13.55 : Estimated Depth Bias at time = 1440.00 : -1.07 : Estimated northing and easting = 4074694.89 : 591273.33 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200914.00,3648.84135,N,12158.59076,W,1,07,1.3,-7.21,M,-32.96,M,,*7F : NMEA Update: $GPGGA,200914.81,3648.8414,N,-12158.5907,W,1,03,00.5,090.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,200915.00,3648.84165,N,12158.59006,W,1,08,1.2,-4.91,M,-32.96,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200915.81,3648.8417,N,-12158.5900,W,1,03,00.5,088.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200916.00,3648.84189,N,12158.59004,W,1,08,1.2,-5.41,M,-32.96,M,,*75 : TerrainNav update at nav time = 1445.001011 : TerrainNav update at dvl time = 1445.001011 : _navData-> (x,y) = (4074731.30, 591289.73) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200916.81,3648.8419,N,-12158.5900,W,1,03,00.5,093.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,200917.00,3648.84217,N,12158.59015,W,1,08,1.2,-3.49,M,-32.96,M,,*7E : NMEA Update: $GPGGA,200917.81,3648.8422,N,-12158.5901,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,200918.00,3648.84248,N,12158.58995,W,1,08,1.2,-2.81,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1445.00 : -29.62 : Estimated East Bias at time = 1445.00 : -11.89 : Estimated Depth Bias at time = 1445.00 : -1.07 : Estimated northing and easting = 4074701.68 : 591277.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200918.81,3648.8425,N,-12158.5899,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200919.00,3648.84286,N,12158.58943,W,1,08,1.2,-2.69,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200919.81,3648.8429,N,-12158.5894,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,200920.00,3648.84292,N,12158.58873,W,1,08,1.2,-1.67,M,-32.96,M,,*70 : NMEA Update: $GPGGA,200920.80,3648.8429,N,-12158.5886,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,200921.00,3648.84342,N,12158.58811,W,1,08,1.2,-1.46,M,-32.96,M,,*7A : TerrainNav update at nav time = 1450.000668 : TerrainNav update at dvl time = 1450.000668 : _navData-> (x,y) = (4074734.16, 591292.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200921.80,3648.8435,N,-12158.5880,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : Estimated North Bias at time = 1450.00 : -29.59 : Estimated East Bias at time = 1450.00 : -11.91 : Estimated Depth Bias at time = 1450.00 : -1.07 : Estimated northing and easting = 4074704.57 : 591280.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200922.00,3648.84335,N,12158.58727,W,1,08,1.2,-1.74,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200922.80,3648.8433,N,-12158.5872,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,200923.00,3648.84348,N,12158.58670,W,1,08,1.2,-2.31,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200923.80,3648.8435,N,-12158.5866,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,200924.00,3648.84356,N,12158.58619,W,1,08,1.2,-2.44,M,-32.96,M,,*7D : NMEA Update: $GPGGA,200924.80,3648.8436,N,-12158.5861,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,200925.00,3648.84362,N,12158.58567,W,1,08,1.2,-3.12,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200925.80,3648.8436,N,-12158.5856,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200926.00,3648.84384,N,12158.58558,W,1,08,1.2,-3.43,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1455.000326 : TerrainNav update at dvl time = 1455.000326 : _navData-> (x,y) = (4074734.90, 591296.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200926.80,3648.8438,N,-12158.5856,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,200927.00,3648.84379,N,12158.58543,W,1,08,1.2,-3.72,M,-32.96,M,,*7B : NMEA Update: $GPGGA,200927.80,3648.8438,N,-12158.5853,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,200928.00,3648.84425,N,12158.58559,W,1,08,1.2,-4.35,M,-32.96,M,,*75 : Estimated North Bias at time = 1455.00 : -22.47 : Estimated East Bias at time = 1455.00 : -11.21 : Estimated Depth Bias at time = 1455.00 : -1.07 : Estimated northing and easting = 4074712.43 : 591285.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200928.80,3648.8443,N,-12158.5856,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,200929.00,3648.84429,N,12158.58566,W,1,08,1.2,-4.21,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200929.80,3648.8443,N,-12158.5857,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,200930.00,3648.84460,N,12158.58585,W,1,08,1.2,-3.99,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200930.80,3648.8446,N,-12158.5858,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,200931.00,3648.84469,N,12158.58576,W,1,08,1.2,-3.06,M,-32.96,M,,*7F : TerrainNav update at nav time = 1459.999983 : TerrainNav update at dvl time = 1459.999983 : _navData-> (x,y) = (4074736.48, 591295.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200931.80,3648.8447,N,-12158.5857,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : Estimated North Bias at time = 1460.00 : -22.47 : Estimated East Bias at time = 1460.00 : -11.21 : Estimated Depth Bias at time = 1460.00 : -1.07 : Estimated northing and easting = 4074714.01 : 591284.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200932.00,3648.84478,N,12158.58528,W,1,08,1.2,-2.01,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200932.80,3648.8448,N,-12158.5852,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200933.00,3648.84497,N,12158.58454,W,1,08,1.2,-1.37,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200933.80,3648.8450,N,-12158.5845,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,200934.00,3648.84483,N,12158.58349,W,1,08,1.2,-1.28,M,-32.96,M,,*7A : NMEA Update: $GPGGA,200934.80,3648.8448,N,-12158.5834,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,200935.00,3648.84506,N,12158.58276,W,1,08,1.2,-2.01,M,-32.96,M,,*72 : NMEA Update: $GPGGA,200935.80,3648.8451,N,-12158.5827,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,200936.00,3648.84500,N,12158.58229,W,1,08,1.2,-2.73,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1464.999641 : TerrainNav update at dvl time = 1464.999641 : _navData-> (x,y) = (4074737.16, 591301.14) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,200936.80,3648.8450,N,-12158.5823,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,200937.00,3648.84513,N,12158.58222,W,1,08,1.2,-3.42,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200937.80,3648.8451,N,-12158.5822,W,1,03,00.5,082.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200938.00,3648.84527,N,12158.58241,W,1,08,1.2,-3.89,M,-32.96,M,,*79 : Estimated North Bias at time = 1465.00 : -5.66 : Estimated East Bias at time = 1465.00 : 2.74 : Estimated Depth Bias at time = 1465.00 : -1.09 : Estimated northing and easting = 4074731.50 : 591303.88 : NMEA Update: $GPGGA,200938.80,3648.8453,N,-12158.5824,W,1,03,00.5,089.1,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,200939.00,3648.84538,N,12158.58251,W,1,08,1.2,-3.82,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200939.80,3648.8454,N,-12158.5825,W,1,03,00.5,080.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200940.00,3648.84573,N,12158.58254,W,1,08,1.2,-3.43,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200940.80,3648.8457,N,-12158.5825,W,1,03,00.5,084.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200941.00,3648.84586,N,12158.58226,W,1,08,1.2,-2.84,M,-32.96,M,,*71 : TerrainNav update at nav time = 1469.999298 : TerrainNav update at dvl time = 1469.999298 : _navData-> (x,y) = (4074738.72, 591301.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200941.80,3648.8459,N,-12158.5822,W,1,03,00.5,086.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,200942.00,3648.84615,N,12158.58184,W,1,08,1.2,-2.50,M,-32.96,M,,*79 : NMEA Update: $GPGGA,200942.80,3648.8462,N,-12158.5818,W,1,03,00.5,083.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,200943.00,3648.84621,N,12158.58141,W,1,08,1.2,-2.58,M,-32.96,M,,*7E : Estimated North Bias at time = 1470.00 : -6.56 : Estimated East Bias at time = 1470.00 : 2.96 : Estimated Depth Bias at time = 1470.00 : -1.09 : Estimated northing and easting = 4074732.16 : 591304.14 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200943.80,3648.8462,N,-12158.5813,W,1,03,00.5,089.0,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200944.00,3648.84627,N,12158.58115,W,1,08,1.2,-2.90,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200944.80,3648.8463,N,-12158.5811,W,1,03,00.5,089.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,200945.00,3648.84626,N,12158.58087,W,1,08,1.2,-2.80,M,-32.96,M,,*71 : NMEA Update: $GPGGA,200945.80,3648.8463,N,-12158.5808,W,1,03,00.5,093.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,200946.00,3648.84620,N,12158.58050,W,1,08,1.2,-3.10,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1474.998956 : TerrainNav update at dvl time = 1474.998956 : _navData-> (x,y) = (4074739.36, 591303.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200946.80,3648.8462,N,-12158.5804,W,1,03,00.5,090.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,200947.00,3648.84624,N,12158.58029,W,1,08,1.2,-3.22,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200947.80,3648.8462,N,-12158.5803,W,1,03,00.5,089.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200948.00,3648.84613,N,12158.58021,W,1,08,1.2,-3.27,M,-32.96,M,,*7A : Estimated North Bias at time = 1475.00 : -6.32 : Estimated East Bias at time = 1475.00 : 3.18 : Estimated Depth Bias at time = 1475.00 : -1.09 : Estimated northing and easting = 4074733.04 : 591307.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200948.80,3648.8461,N,-12158.5802,W,1,03,00.5,093.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,200949.00,3648.84624,N,12158.58016,W,1,08,1.2,-2.84,M,-32.96,M,,*73 : NMEA Update: $GPGGA,200949.80,3648.8462,N,-12158.5802,W,1,03,00.5,088.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200950.00,3648.84644,N,12158.57978,W,1,08,1.2,-2.57,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200950.80,3648.8465,N,-12158.5797,W,1,03,00.5,087.6,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200951.00,3648.84674,N,12158.57926,W,1,08,1.2,-2.51,M,-32.96,M,,*72 : TerrainNav update at nav time = 1479.998613 : TerrainNav update at dvl time = 1479.998613 : _navData-> (x,y) = (4074740.47, 591305.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200951.80,3648.8468,N,-12158.5792,W,1,03,00.5,086.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,200952.00,3648.84696,N,12158.57885,W,1,08,1.2,-3.12,M,-32.96,M,,*73 : NMEA Update: $GPGGA,200952.80,3648.8470,N,-12158.5788,W,1,03,00.5,085.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,200953.00,3648.84712,N,12158.57881,W,1,08,1.2,-3.67,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1480.00 : -6.24 : Estimated East Bias at time = 1480.00 : 3.37 : Estimated Depth Bias at time = 1480.00 : -1.09 : Estimated northing and easting = 4074734.23 : 591309.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,200953.80,3648.8471,N,-12158.5788,W,1,03,00.5,088.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,200954.00,3648.84711,N,12158.57892,W,1,08,1.2,-3.86,M,-32.96,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200954.80,3648.8471,N,-12158.5789,W,1,03,00.5,092.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,200955.00,3648.84732,N,12158.57902,W,1,08,1.2,-3.40,M,-32.96,M,,*72 : NMEA Update: $GPGGA,200955.80,3648.8473,N,-12158.5790,W,1,03,00.5,088.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,200956.00,3648.84740,N,12158.57881,W,1,08,1.2,-2.47,M,-32.96,M,,*78 : TerrainNav update at nav time = 1484.998271 : TerrainNav update at dvl time = 1484.998271 : _navData-> (x,y) = (4074741.60, 591306.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,200956.80,3648.8474,N,-12158.5788,W,1,03,00.5,087.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,200957.00,3648.84745,N,12158.57828,W,1,08,1.2,-2.02,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200957.80,3648.8475,N,-12158.5782,W,1,03,00.5,088.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,200958.00,3648.84746,N,12158.57775,W,1,08,1.2,-2.08,M,-32.96,M,,*7F : Estimated North Bias at time = 1485.00 : -6.78 : Estimated East Bias at time = 1485.00 : 3.50 : Estimated Depth Bias at time = 1485.00 : -1.09 : Estimated northing and easting = 4074734.82 : 591309.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,200958.80,3648.8475,N,-12158.5776,W,1,03,00.5,085.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,200959.00,3648.84757,N,12158.57734,W,1,08,1.2,-2.66,M,-32.96,M,,*73 : NMEA Update: $GPGGA,200959.80,3648.8476,N,-12158.5773,W,1,03,00.5,088.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201000.00,3648.84765,N,12158.57708,W,1,08,1.2,-2.84,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201000.80,3648.8477,N,-12158.5770,W,1,03,00.5,092.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201001.00,3648.84774,N,12158.57688,W,1,08,1.2,-3.24,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1489.997928 : TerrainNav update at dvl time = 1489.997928 : _navData-> (x,y) = (4074742.21, 591309.16) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201001.80,3648.8477,N,-12158.5768,W,1,03,00.5,089.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201002.00,3648.84781,N,12158.57664,W,1,08,1.2,-3.23,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201002.80,3648.8478,N,-12158.5766,W,1,03,00.5,085.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1490.00 : 15.45 : Estimated East Bias at time = 1490.00 : 2.05 : Estimated Depth Bias at time = 1490.00 : -1.09 : Estimated northing and easting = 4074757.67 : 591311.21 : AshtechGps::processRecord() - $GPGGA,201003.00,3648.84798,N,12158.57640,W,1,08,1.2,-3.66,M,-32.96,M,,*74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201003.80,3648.8480,N,-12158.5763,W,1,03,00.5,085.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201004.00,3648.84818,N,12158.57643,W,1,08,1.2,-3.41,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201004.80,3648.8482,N,-12158.5764,W,1,03,00.5,087.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201005.00,3648.84828,N,12158.57650,W,1,08,1.2,-3.51,M,-32.96,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 : NMEA Update: $GPGGA,201005.80,3648.8483,N,-12158.5765,W,1,03,00.5,081.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201006.00,3648.84813,N,12158.57660,W,1,08,1.2,-3.38,M,-32.96,M,,*74 : TerrainNav update at nav time = 1494.997586 : TerrainNav update at dvl time = 1494.997586 : _navData-> (x,y) = (4074742.93, 591309.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201006.80,3648.8481,N,-12158.5766,W,1,03,00.5,087.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201007.00,3648.84810,N,12158.57662,W,1,08,1.2,-2.71,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201007.80,3648.8481,N,-12158.5766,W,1,03,00.5,085.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201008.00,3648.84825,N,12158.57643,W,1,08,1.2,-1.98,M,-32.96,M,,*76 : Estimated North Bias at time = 1495.00 : 16.58 : Estimated East Bias at time = 1495.00 : 1.70 : Estimated Depth Bias at time = 1495.00 : -1.08 : Estimated northing and easting = 4074759.51 : 591311.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201008.80,3648.8483,N,-12158.5764,W,1,03,00.5,087.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201009.00,3648.84835,N,12158.57598,W,1,08,1.2,-1.49,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201009.80,3648.8484,N,-12158.5759,W,1,03,00.5,086.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201010.00,3648.84859,N,12158.57533,W,1,08,1.2,-1.56,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201010.80,3648.8486,N,-12158.5752,W,1,03,00.5,088.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201011.00,3648.84852,N,12158.57481,W,1,08,1.2,-1.68,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1499.997243 : TerrainNav update at dvl time = 1499.997243 : _navData-> (x,y) = (4074743.78, 591312.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201011.80,3648.8485,N,-12158.5747,W,1,03,00.5,090.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201012.00,3648.84876,N,12158.57423,W,1,08,1.2,-2.19,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201012.80,3648.8487,N,-12158.5741,W,1,03,00.5,090.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201013.00,3648.84868,N,12158.57403,W,1,08,1.2,-2.99,M,-32.96,M,,*71 : Estimated North Bias at time = 1500.00 : 16.81 : Estimated East Bias at time = 1500.00 : 2.04 : Estimated Depth Bias at time = 1500.00 : -1.09 : Estimated northing and easting = 4074760.59 : 591314.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201013.80,3648.8487,N,-12158.5740,W,1,03,00.5,090.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201014.00,3648.84873,N,12158.57409,W,1,08,1.2,-3.43,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201014.80,3648.8487,N,-12158.5741,W,1,03,00.5,088.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201015.00,3648.84884,N,12158.57424,W,1,08,1.2,-3.51,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201015.80,3648.8488,N,-12158.5742,W,1,03,00.5,084.9,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201016.00,3648.84882,N,12158.57442,W,1,08,1.2,-3.44,M,-32.96,M,,*74 : TerrainNav update at nav time = 1504.996901 : TerrainNav update at dvl time = 1504.996901 : _navData-> (x,y) = (4074744.29, 591312.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201016.80,3648.8488,N,-12158.5744,W,1,03,00.5,083.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201017.00,3648.84902,N,12158.57443,W,1,08,1.2,-2.95,M,-32.96,M,,*70 : NMEA Update: $GPGGA,201017.80,3648.8490,N,-12158.5744,W,1,03,00.5,087.0,M,-99.9,M,,*42 : Estimated North Bias at time = 1505.00 : 18.04 : Estimated East Bias at time = 1505.00 : 1.55 : Estimated Depth Bias at time = 1505.00 : -1.09 : Estimated northing and easting = 4074762.33 : 591314.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201018.00,3648.84897,N,12158.57439,W,1,08,1.2,-2.40,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201018.80,3648.8490,N,-12158.5744,W,1,03,00.5,088.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201019.00,3648.84916,N,12158.57391,W,1,08,1.2,-1.93,M,-32.96,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201019.80,3648.8492,N,-12158.5739,W,1,03,00.5,088.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201020.00,3648.84914,N,12158.57326,W,1,08,1.2,-1.43,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201020.80,3648.8491,N,-12158.5732,W,1,03,00.5,084.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201021.00,3648.84917,N,12158.57259,W,1,08,1.2,-2.01,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1509.996558 : TerrainNav update at dvl time = 1509.996558 : _navData-> (x,y) = (4074744.97, 591315.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201021.80,3648.8492,N,-12158.5724,W,1,03,00.5,086.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201022.00,3648.84915,N,12158.57237,W,1,08,1.2,-2.57,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201022.80,3648.8492,N,-12158.5723,W,1,03,00.5,086.5,M,-99.9,M,,*43 : Estimated North Bias at time = 1510.00 : 19.11 : Estimated East Bias at time = 1510.00 : 1.18 : Estimated Depth Bias at time = 1510.00 : -1.08 : Estimated northing and easting = 4074764.08 : 591316.84 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201023.00,3648.84913,N,12158.57238,W,1,08,1.2,-3.48,M,-32.96,M,,*7C : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201023.80,3648.8491,N,-12158.5724,W,1,03,00.5,083.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201024.00,3648.84918,N,12158.57261,W,1,08,1.2,-3.28,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201024.80,3648.8492,N,-12158.5727,W,1,03,00.5,087.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201025.00,3648.84930,N,12158.57259,W,1,08,1.2,-2.84,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201025.80,3648.8493,N,-12158.5725,W,1,03,00.5,087.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201026.00,3648.84938,N,12158.57253,W,1,08,1.2,-2.81,M,-32.96,M,,*79 : TerrainNav update at nav time = 1514.996216 : TerrainNav update at dvl time = 1514.996216 : _navData-> (x,y) = (4074745.38, 591315.56) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201026.80,3648.8494,N,-12158.5725,W,1,03,00.5,086.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201027.00,3648.84945,N,12158.57245,W,1,08,1.2,-2.34,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201027.80,3648.8495,N,-12158.5725,W,1,03,00.5,088.6,M,-99.9,M,,*4a : Estimated North Bias at time = 1515.00 : 18.21 : Estimated East Bias at time = 1515.00 : 1.65 : Estimated Depth Bias at time = 1515.00 : -1.08 : Estimated northing and easting = 4074763.58 : 591317.21 : AshtechGps::processRecord() - $GPGGA,201028.00,3648.84941,N,12158.57215,W,1,08,1.2,-2.10,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201028.80,3648.8494,N,-12158.5721,W,1,03,00.5,085.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201029.00,3648.84939,N,12158.57173,W,1,08,1.2,-1.79,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201029.80,3648.8494,N,-12158.5717,W,1,03,00.5,087.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201030.00,3648.84939,N,12158.57130,W,1,08,1.2,-1.92,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201030.80,3648.8494,N,-12158.5712,W,1,03,00.5,088.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201031.00,3648.84950,N,12158.57091,W,1,08,1.2,-2.22,M,-32.96,M,,*74 : TerrainNav update at nav time = 1519.995873 : TerrainNav update at dvl time = 1519.995873 : _navData-> (x,y) = (4074745.67, 591318.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201031.80,3648.8495,N,-12158.5708,W,1,03,00.5,086.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201032.00,3648.84947,N,12158.57091,W,1,08,1.2,-2.68,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201032.80,3648.8495,N,-12158.5709,W,1,03,00.5,088.1,M,-99.9,M,,*47 : Estimated North Bias at time = 1520.00 : 16.71 : Estimated East Bias at time = 1520.00 : 2.41 : Estimated Depth Bias at time = 1520.00 : -1.09 : Estimated northing and easting = 4074762.38 : 591320.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201033.00,3648.84963,N,12158.57078,W,1,08,1.2,-2.92,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201033.80,3648.8496,N,-12158.5708,W,1,03,00.5,084.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201034.00,3648.84963,N,12158.57090,W,1,08,1.2,-2.78,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201034.80,3648.8496,N,-12158.5709,W,1,03,00.5,083.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201035.00,3648.84963,N,12158.57091,W,1,08,1.2,-3.10,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201035.80,3648.8496,N,-12158.5709,W,1,03,00.5,089.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201036.00,3648.84955,N,12158.57104,W,1,08,1.2,-3.12,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1524.995531 : TerrainNav update at dvl time = 1524.995531 : _navData-> (x,y) = (4074745.67, 591317.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201036.80,3648.8495,N,-12158.5711,W,1,03,00.5,082.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201037.00,3648.84953,N,12158.57111,W,1,08,1.2,-3.17,M,-32.96,M,,*7F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201037.80,3648.8495,N,-12158.5711,W,1,03,00.5,087.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201038.00,3648.84957,N,12158.57120,W,1,08,1.2,-2.55,M,-32.96,M,,*71 : Estimated North Bias at time = 1525.00 : 15.73 : Estimated East Bias at time = 1525.00 : 2.89 : Estimated Depth Bias at time = 1525.00 : -1.09 : Estimated northing and easting = 4074761.40 : 591320.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201038.80,3648.8496,N,-12158.5712,W,1,03,00.5,087.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201039.00,3648.84970,N,12158.57081,W,1,09,1.0,-1.45,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201039.80,3648.8497,N,-12158.5708,W,1,03,00.5,086.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201040.00,3648.84970,N,12158.57023,W,1,09,1.0,-1.07,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201040.80,3648.8497,N,-12158.5701,W,1,03,00.5,087.9,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201041.00,3648.84979,N,12158.56949,W,1,09,1.0,-1.10,M,-32.96,M,,*74 : TerrainNav update at nav time = 1529.995188 : TerrainNav update at dvl time = 1529.995188 : _navData-> (x,y) = (4074746.17, 591320.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201041.80,3648.8498,N,-12158.5694,W,1,03,00.5,088.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201042.00,3648.84986,N,12158.56899,W,1,09,1.0,-1.89,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201042.80,3648.8499,N,-12158.5689,W,1,03,00.5,086.5,M,-99.9,M,,*4f : Estimated North Bias at time = 1530.00 : 15.89 : Estimated East Bias at time = 1530.00 : 2.80 : Estimated Depth Bias at time = 1530.00 : -1.09 : Estimated northing and easting = 4074762.06 : 591322.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201043.00,3648.84995,N,12158.56892,W,1,09,1.0,-2.71,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201043.80,3648.8500,N,-12158.5689,W,1,03,00.5,086.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201044.00,3648.84998,N,12158.56917,W,1,09,1.0,-3.44,M,-32.96,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201044.80,3648.8500,N,-12158.5692,W,1,03,00.5,087.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201045.00,3648.84994,N,12158.56942,W,1,09,1.0,-3.25,M,-32.96,M,,*7C : NMEA Update: $GPGGA,201045.80,3648.8499,N,-12158.5695,W,1,03,00.5,087.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201046.00,3648.84985,N,12158.56959,W,1,09,1.0,-2.89,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1534.994846 : TerrainNav update at dvl time = 1534.994846 : _navData-> (x,y) = (4074746.24, 591319.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201046.80,3648.8498,N,-12158.5696,W,1,03,00.5,088.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201047.00,3648.84980,N,12158.56959,W,1,09,1.0,-2.25,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201047.80,3648.8498,N,-12158.5696,W,1,03,00.5,086.3,M,-99.9,M,,*43 : Estimated North Bias at time = 1534.99 : 14.89 : Estimated East Bias at time = 1534.99 : 3.37 : Estimated Depth Bias at time = 1534.99 : -1.09 : Estimated northing and easting = 4074761.13 : 591323.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201048.00,3648.84980,N,12158.56947,W,1,09,1.0,-1.71,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201048.80,3648.8498,N,-12158.5694,W,1,03,00.5,084.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201049.00,3648.84985,N,12158.56910,W,1,09,1.0,-1.55,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201049.80,3648.8499,N,-12158.5690,W,1,03,00.5,088.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201050.00,3648.84990,N,12158.56871,W,1,09,1.0,-1.68,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201050.81,3648.8499,N,-12158.5686,W,1,03,00.5,087.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201051.00,3648.84990,N,12158.56847,W,1,09,1.0,-2.02,M,-32.96,M,,*7D : TerrainNav update at nav time = 1539.994503 : TerrainNav update at dvl time = 1539.994503 : _navData-> (x,y) = (4074746.37, 591321.63) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201051.81,3648.8499,N,-12158.5684,W,1,03,00.5,087.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201052.00,3648.84993,N,12158.56828,W,1,09,1.0,-1.94,M,-32.96,M,,*78 : NMEA Update: $GPGGA,201052.81,3648.8499,N,-12158.5682,W,1,03,00.5,087.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201053.00,3648.85002,N,12158.56811,W,1,09,1.0,-2.26,M,-32.96,M,,*79 : Estimated North Bias at time = 1539.99 : 15.13 : Estimated East Bias at time = 1539.99 : 3.30 : Estimated Depth Bias at time = 1539.99 : -1.09 : Estimated northing and easting = 4074761.50 : 591324.93 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201053.81,3648.8500,N,-12158.5681,W,1,03,00.5,087.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201054.00,3648.85013,N,12158.56819,W,1,09,1.0,-2.43,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201054.81,3648.8502,N,-12158.5682,W,1,03,00.5,087.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201055.00,3648.85017,N,12158.56833,W,1,09,1.0,-2.85,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201055.81,3648.8502,N,-12158.5684,W,1,03,00.5,086.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201056.00,3648.85011,N,12158.56851,W,1,09,1.0,-2.47,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1544.994161 : TerrainNav update at dvl time = 1544.994161 : _navData-> (x,y) = (4074746.75, 591321.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201056.81,3648.8501,N,-12158.5685,W,1,03,00.5,086.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201057.00,3648.85009,N,12158.56830,W,1,09,1.0,-2.00,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201057.81,3648.8501,N,-12158.5682,W,1,03,00.5,085.4,M,-99.9,M,,*43 : Estimated North Bias at time = 1544.99 : 15.30 : Estimated East Bias at time = 1544.99 : 3.23 : Estimated Depth Bias at time = 1544.99 : -1.09 : Estimated northing and easting = 4074762.05 : 591324.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201058.00,3648.84999,N,12158.56814,W,1,09,1.0,-2.02,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201058.81,3648.8500,N,-12158.5681,W,1,03,00.5,085.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201059.00,3648.84987,N,12158.56798,W,1,09,1.0,-2.14,M,-32.96,M,,*79 : NMEA Update: $GPGGA,201059.81,3648.8498,N,-12158.5680,W,1,03,00.5,085.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201100.00,3648.84978,N,12158.56793,W,1,09,1.0,-2.26,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201100.81,3648.8498,N,-12158.5679,W,1,03,00.5,086.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201101.00,3648.84979,N,12158.56780,W,1,09,1.0,-2.06,M,-32.96,M,,*7E : TerrainNav update at nav time = 1549.993818 : TerrainNav update at dvl time = 1549.993818 : _navData-> (x,y) = (4074746.20, 591322.56) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201101.81,3648.8498,N,-12158.5678,W,1,03,00.5,087.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201102.00,3648.84978,N,12158.56771,W,1,09,1.0,-2.00,M,-32.96,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201102.81,3648.8498,N,-12158.5677,W,1,03,00.5,090.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201103.00,3648.84974,N,12158.56754,W,1,09,1.0,-2.00,M,-32.96,M,,*7E : Estimated North Bias at time = 1549.99 : 17.21 : Estimated East Bias at time = 1549.99 : 2.63 : Estimated Depth Bias at time = 1549.99 : -1.08 : Estimated northing and easting = 4074763.42 : 591325.18 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201103.81,3648.8497,N,-12158.5675,W,1,03,00.5,088.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201104.00,3648.84968,N,12158.56738,W,1,09,1.0,-2.49,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201104.81,3648.8497,N,-12158.5673,W,1,03,00.5,088.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201105.00,3648.84976,N,12158.56747,W,1,09,1.0,-2.76,M,-32.96,M,,*79 : NMEA Update: $GPGGA,201105.81,3648.8498,N,-12158.5675,W,1,03,00.5,086.8,M,-99.9,M,,*43 : 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,201106.00,3648.84982,N,12158.56759,W,1,09,1.0,-2.81,M,-32.96,M,,*76 : TerrainNav update at nav time = 1554.993476 : TerrainNav update at dvl time = 1554.993476 : _navData-> (x,y) = (4074746.27, 591322.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201106.81,3648.8498,N,-12158.5676,W,1,03,00.5,087.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201107.00,3648.84990,N,12158.56748,W,1,09,1.0,-2.49,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201107.81,3648.8499,N,-12158.5674,W,1,03,00.5,088.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201108.00,3648.84989,N,12158.56730,W,1,09,1.0,-2.30,M,-32.96,M,,*76 : Estimated North Bias at time = 1554.99 : 18.03 : Estimated East Bias at time = 1554.99 : 2.33 : Estimated Depth Bias at time = 1554.99 : -1.08 : Estimated northing and easting = 4074764.30 : 591325.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201108.81,3648.8499,N,-12158.5673,W,1,03,00.5,086.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201109.00,3648.84997,N,12158.56719,W,1,09,1.0,-1.97,M,-32.96,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201109.81,3648.8500,N,-12158.5672,W,1,03,00.5,086.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201110.00,3648.84989,N,12158.56711,W,1,09,1.0,-1.41,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201110.81,3648.8499,N,-12158.5671,W,1,03,00.5,082.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201111.00,3648.84992,N,12158.56661,W,1,09,1.0,-1.57,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1559.993133 : TerrainNav update at dvl time = 1559.993133 : _navData-> (x,y) = (4074746.40, 591324.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201111.81,3648.8499,N,-12158.5665,W,1,03,00.5,087.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201112.00,3648.84976,N,12158.56625,W,1,09,1.0,-1.61,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201112.81,3648.8497,N,-12158.5662,W,1,03,00.5,084.3,M,-99.9,M,,*45 : 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,201113.00,3648.84966,N,12158.56587,W,1,09,1.0,-2.23,M,-32.96,M,,*71 : Estimated North Bias at time = 1559.99 : 19.98 : Estimated East Bias at time = 1559.99 : 1.98 : Estimated Depth Bias at time = 1559.99 : -1.07 : Estimated northing and easting = 4074766.38 : 591326.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201113.81,3648.8497,N,-12158.5658,W,1,03,00.5,085.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201114.00,3648.84969,N,12158.56577,W,1,09,1.0,-2.56,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201114.81,3648.8497,N,-12158.5658,W,1,03,00.5,081.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201115.00,3648.84972,N,12158.56598,W,1,09,1.0,-2.88,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201115.81,3648.8497,N,-12158.5660,W,1,03,00.5,085.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201116.00,3648.84981,N,12158.56613,W,1,09,1.0,-2.81,M,-32.96,M,,*7B : TerrainNav update at nav time = 1565.002790 : TerrainNav update at dvl time = 1565.002790 : _navData-> (x,y) = (4074746.24, 591325.00) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201116.81,3648.8498,N,-12158.5661,W,1,03,00.5,085.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201117.00,3648.84979,N,12158.56640,W,1,09,1.0,-2.63,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201117.81,3648.8498,N,-12158.5664,W,1,03,00.5,084.1,M,-99.9,M,,*4b : Estimated North Bias at time = 1565.00 : 18.76 : Estimated East Bias at time = 1565.00 : 2.64 : Estimated Depth Bias at time = 1565.00 : -1.08 : Estimated northing and easting = 4074764.99 : 591327.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201118.00,3648.84989,N,12158.56625,W,1,09,1.0,-2.00,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201118.81,3648.8499,N,-12158.5663,W,1,03,00.5,084.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201119.00,3648.84976,N,12158.56601,W,1,09,1.0,-1.79,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201119.81,3648.8498,N,-12158.5660,W,1,03,00.5,086.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201120.00,3648.84985,N,12158.56557,W,1,09,1.0,-1.97,M,-32.96,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201120.81,3648.8499,N,-12158.5655,W,1,03,00.5,086.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201121.00,3648.85091,N,12158.56432,W,1,09,1.0,-2.32,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1570.002447 : TerrainNav update at dvl time = 1570.002447 : _navData-> (x,y) = (4074748.36, 591327.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201121.81,3648.8509,N,-12158.5643,W,1,03,00.5,087.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201122.00,3648.84996,N,12158.56479,W,1,09,1.0,-2.70,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201122.81,3648.8499,N,-12158.5648,W,1,03,00.5,087.1,M,-99.9,M,,*41 : Estimated North Bias at time = 1570.00 : 17.25 : Estimated East Bias at time = 1570.00 : 3.55 : Estimated Depth Bias at time = 1570.00 : -1.08 : Estimated northing and easting = 4074765.60 : 591331.32 : AshtechGps::processRecord() - $GPGGA,201123.00,3648.85034,N,12158.56440,W,1,09,1.0,-1.29,M,-32.96,M,,*7E : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201123.81,3648.8503,N,-12158.5644,W,1,03,00.5,085.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201124.00,3648.84970,N,12158.56465,W,1,09,1.0,-3.01,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201124.81,3648.8497,N,-12158.5646,W,1,03,00.5,079.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201125.00,3648.84961,N,12158.56434,W,1,09,1.0,-2.88,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201125.81,3648.8496,N,-12158.5643,W,1,03,00.5,091.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201126.00,3648.84959,N,12158.56456,W,1,09,1.0,-3.21,M,-32.96,M,,*75 : TerrainNav update at nav time = 1575.002105 : TerrainNav update at dvl time = 1575.002105 : _navData-> (x,y) = (4074745.81, 591327.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201126.81,3648.8496,N,-12158.5646,W,1,03,00.5,082.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201127.00,3648.84971,N,12158.56458,W,1,09,1.0,-3.02,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201127.81,3648.8497,N,-12158.5646,W,1,03,00.5,086.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201128.00,3648.85010,N,12158.56440,W,1,09,1.0,-1.84,M,-32.96,M,,*74 : Estimated North Bias at time = 1575.00 : 15.09 : Estimated East Bias at time = 1575.00 : 4.55 : Estimated Depth Bias at time = 1575.00 : -1.08 : Estimated northing and easting = 4074760.90 : 591331.90 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201128.81,3648.8501,N,-12158.5643,W,1,03,00.5,087.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201129.00,3648.85023,N,12158.56409,W,1,09,1.0,-1.54,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201129.81,3648.8503,N,-12158.5640,W,1,03,00.5,083.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201130.00,3648.85031,N,12158.56379,W,1,09,1.0,-2.03,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201130.81,3648.8503,N,-12158.5637,W,1,03,00.5,087.4,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201131.00,3648.85031,N,12158.56376,W,1,09,1.0,-2.29,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1580.001762 : TerrainNav update at dvl time = 1580.001762 : _navData-> (x,y) = (4074747.19, 591328.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201131.81,3648.8503,N,-12158.5637,W,1,03,00.5,085.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201132.00,3648.85026,N,12158.56366,W,1,09,1.0,-2.60,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201132.81,3648.8502,N,-12158.5636,W,1,03,00.5,084.3,M,-99.9,M,,*4b : Estimated North Bias at time = 1580.00 : 12.96 : Estimated East Bias at time = 1580.00 : 5.65 : Estimated Depth Bias at time = 1580.00 : -1.09 : Estimated northing and easting = 4074760.15 : 591334.20 : AshtechGps::processRecord() - $GPGGA,201133.00,3648.85012,N,12158.56373,W,1,09,1.0,-2.40,M,-32.96,M,,*70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201133.81,3648.8501,N,-12158.5638,W,1,03,00.5,085.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201134.00,3648.85009,N,12158.56342,W,1,09,1.0,-1.57,M,-32.96,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201134.81,3648.8501,N,-12158.5634,W,1,03,00.5,087.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201135.00,3648.85003,N,12158.56317,W,1,09,1.0,-2.21,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201135.81,3648.8500,N,-12158.5631,W,1,03,00.5,083.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201136.00,3648.85002,N,12158.56310,W,1,09,1.0,-2.03,M,-32.96,M,,*76 : TerrainNav update at nav time = 1585.001420 : TerrainNav update at dvl time = 1585.001420 : _navData-> (x,y) = (4074746.72, 591329.53) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201136.81,3648.8500,N,-12158.5631,W,1,03,00.5,086.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201137.00,3648.84989,N,12158.56289,W,1,09,1.0,-2.10,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201137.81,3648.8498,N,-12158.5629,W,1,03,00.5,086.8,M,-99.9,M,,*4b : Estimated North Bias at time = 1585.00 : 14.40 : Estimated East Bias at time = 1585.00 : 5.15 : Estimated Depth Bias at time = 1585.00 : -1.08 : Estimated northing and easting = 4074761.12 : 591334.68 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201138.00,3648.84970,N,12158.56281,W,1,09,1.0,-2.49,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201138.81,3648.8497,N,-12158.5628,W,1,03,00.5,085.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201139.00,3648.84980,N,12158.56276,W,1,09,1.0,-2.27,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201139.81,3648.8498,N,-12158.5628,W,1,03,00.5,085.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201140.00,3648.84987,N,12158.56279,W,1,09,1.0,-2.30,M,-32.96,M,,*7C : NMEA Update: $GPGGA,201140.81,3648.8499,N,-12158.5628,W,1,03,00.5,087.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201141.00,3648.84989,N,12158.56269,W,1,09,1.0,-1.86,M,-32.96,M,,*7C : TerrainNav update at nav time = 1590.001077 : TerrainNav update at dvl time = 1590.001077 : _navData-> (x,y) = (4074746.48, 591330.14) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201141.81,3648.8499,N,-12158.5627,W,1,03,00.5,086.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201142.00,3648.84988,N,12158.56231,W,1,09,1.0,-1.89,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201142.81,3648.8499,N,-12158.5623,W,1,03,00.5,087.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201143.00,3648.84980,N,12158.56211,W,1,09,1.0,-2.09,M,-32.96,M,,*7C : Estimated North Bias at time = 1590.00 : 15.53 : Estimated East Bias at time = 1590.00 : 4.72 : Estimated Depth Bias at time = 1590.00 : -1.08 : Estimated northing and easting = 4074762.01 : 591334.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201143.81,3648.8498,N,-12158.5620,W,1,03,00.5,086.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201144.00,3648.84982,N,12158.56196,W,1,09,1.0,-1.72,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201144.81,3648.8498,N,-12158.5619,W,1,03,00.5,085.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201145.00,3648.84979,N,12158.56186,W,1,09,1.0,-2.10,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201145.81,3648.8498,N,-12158.5618,W,1,03,00.5,084.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201146.00,3648.84981,N,12158.56178,W,1,09,1.0,-1.88,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1595.000735 : TerrainNav update at dvl time = 1595.000735 : _navData-> (x,y) = (4074746.34, 591331.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201146.80,3648.8498,N,-12158.5618,W,1,03,00.5,086.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201147.00,3648.84992,N,12158.56156,W,1,09,1.0,-1.99,M,-32.96,M,,*71 : NMEA Update: $GPGGA,201147.80,3648.8499,N,-12158.5615,W,1,03,00.5,084.6,M,-99.9,M,,*4f : Estimated North Bias at time = 1595.00 : 16.74 : Estimated East Bias at time = 1595.00 : 4.35 : Estimated Depth Bias at time = 1595.00 : -1.07 : Estimated northing and easting = 4074763.08 : 591335.83 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201148.00,3648.84997,N,12158.56137,W,1,09,1.0,-2.07,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201148.80,3648.8500,N,-12158.5613,W,1,03,00.5,083.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201149.00,3648.85001,N,12158.56120,W,1,09,1.0,-2.21,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201149.80,3648.8500,N,-12158.5612,W,1,03,00.5,085.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201150.00,3648.84994,N,12158.56107,W,1,09,1.0,-2.27,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201150.80,3648.8499,N,-12158.5610,W,1,03,00.5,086.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201151.00,3648.84983,N,12158.56097,W,1,09,1.0,-2.01,M,-32.96,M,,*78 : TerrainNav update at nav time = 1600.000392 : TerrainNav update at dvl time = 1600.000392 : _navData-> (x,y) = (4074746.33, 591332.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201151.80,3648.8498,N,-12158.5610,W,1,03,00.5,086.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201152.00,3648.84996,N,12158.56071,W,1,09,1.0,-1.88,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201152.80,3648.8500,N,-12158.5607,W,1,03,00.5,085.9,M,-99.9,M,,*47 : Estimated North Bias at time = 1600.00 : 20.77 : Estimated East Bias at time = 1600.00 : 3.42 : Estimated Depth Bias at time = 1600.00 : -1.06 : Estimated northing and easting = 4074767.10 : 591336.13 : AshtechGps::processRecord() - $GPGGA,201153.00,3648.84995,N,12158.56062,W,1,09,1.0,-1.96,M,-32.96,M,,*7A : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201153.80,3648.8500,N,-12158.5606,W,1,03,00.5,081.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201154.00,3648.85011,N,12158.56032,W,1,09,1.0,-1.94,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201154.80,3648.8501,N,-12158.5603,W,1,03,00.5,089.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201155.00,3648.84997,N,12158.56020,W,1,09,1.0,-2.17,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201155.80,3648.8500,N,-12158.5602,W,1,03,00.5,083.5,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201156.00,3648.84990,N,12158.56002,W,1,09,1.0,-2.30,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1605.000050 : TerrainNav update at dvl time = 1605.000050 : _navData-> (x,y) = (4074746.48, 591334.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201156.80,3648.8499,N,-12158.5600,W,1,03,00.5,085.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201157.00,3648.84987,N,12158.55984,W,1,09,1.0,-2.59,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201157.80,3648.8499,N,-12158.5598,W,1,03,00.5,083.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201158.00,3648.84975,N,12158.55992,W,1,09,1.0,-2.67,M,-32.96,M,,*77 : Estimated North Bias at time = 1605.00 : 22.41 : Estimated East Bias at time = 1605.00 : 2.96 : Estimated Depth Bias at time = 1605.00 : -1.05 : Estimated northing and easting = 4074768.89 : 591337.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201158.80,3648.8497,N,-12158.5599,W,1,03,00.5,088.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201159.00,3648.84987,N,12158.55990,W,1,09,1.0,-2.23,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201159.80,3648.8499,N,-12158.5599,W,1,03,00.5,084.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201200.00,3648.84992,N,12158.55969,W,1,09,1.0,-1.68,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201200.80,3648.8499,N,-12158.5597,W,1,03,00.5,083.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201201.00,3648.85011,N,12158.55932,W,1,09,1.1,-1.66,M,-32.96,M,,*7B : TerrainNav update at nav time = 1609.999707 : TerrainNav update at dvl time = 1609.999707 : _navData-> (x,y) = (4074746.97, 591335.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201201.80,3648.8501,N,-12158.5593,W,1,03,00.5,086.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201202.00,3648.85028,N,12158.55902,W,1,09,1.1,-1.69,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201202.80,3648.8503,N,-12158.5590,W,1,03,00.5,080.5,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201203.00,3648.85024,N,12158.55885,W,1,09,1.1,-1.87,M,-32.96,M,,*7D : Estimated North Bias at time = 1610.00 : 23.09 : Estimated East Bias at time = 1610.00 : 2.75 : Estimated Depth Bias at time = 1610.00 : -1.05 : Estimated northing and easting = 4074770.07 : 591337.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201203.80,3648.8502,N,-12158.5588,W,1,03,00.5,091.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201204.00,3648.85029,N,12158.55863,W,1,09,1.1,-2.05,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201204.80,3648.8503,N,-12158.5586,W,1,03,00.5,084.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201205.00,3648.85020,N,12158.55855,W,1,09,1.1,-2.19,M,-32.96,M,,*76 : NMEA Update: $GPGGA,201205.80,3648.8502,N,-12158.5585,W,1,03,00.5,080.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201206.00,3648.85025,N,12158.55841,W,1,09,1.1,-2.40,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1614.999365 : TerrainNav update at dvl time = 1614.999365 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : _navData-> (x,y) = (4074747.17, 591336.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201206.80,3648.8502,N,-12158.5584,W,1,03,00.5,088.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201207.00,3648.85001,N,12158.55836,W,1,09,1.1,-2.39,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1615.00 : 24.58 : Estimated East Bias at time = 1615.00 : 3.08 : Estimated Depth Bias at time = 1615.00 : -1.04 : Estimated northing and easting = 4074771.75 : 591339.57 : NMEA Update: $GPGGA,201207.80,3648.8500,N,-12158.5583,W,1,03,00.5,082.8,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201208.00,3648.85002,N,12158.55824,W,1,09,1.1,-2.48,M,-32.96,M,,*79 : NMEA Update: $GPGGA,201208.80,3648.8500,N,-12158.5582,W,1,03,00.5,086.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201209.00,3648.85011,N,12158.55816,W,1,09,1.1,-2.41,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201209.80,3648.8501,N,-12158.5581,W,1,03,00.5,084.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201210.00,3648.85032,N,12158.55796,W,1,09,1.1,-2.06,M,-32.96,M,,*7F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201210.80,3648.8504,N,-12158.5579,W,1,03,00.5,084.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201211.00,3648.85043,N,12158.55768,W,1,09,1.1,-2.35,M,-32.96,M,,*79 : TerrainNav update at nav time = 1619.999022 : TerrainNav update at dvl time = 1619.999022 : _navData-> (x,y) = (4074747.61, 591337.64) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201211.80,3648.8505,N,-12158.5576,W,1,03,00.5,085.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201212.00,3648.85049,N,12158.55761,W,1,09,1.1,-2.20,M,-32.96,M,,*7D : NMEA Update: $GPGGA,201212.80,3648.8505,N,-12158.5576,W,1,03,00.5,085.4,M,-99.9,M,,*4d : Estimated North Bias at time = 1620.00 : 24.49 : Estimated East Bias at time = 1620.00 : 3.10 : Estimated Depth Bias at time = 1620.00 : -1.04 : Estimated northing and easting = 4074772.10 : 591340.75 : AshtechGps::processRecord() - $GPGGA,201213.00,3648.85052,N,12158.55759,W,1,09,1.1,-2.06,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201213.80,3648.8505,N,-12158.5576,W,1,03,00.5,086.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201214.00,3648.85044,N,12158.55736,W,1,09,1.1,-1.98,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201214.80,3648.8504,N,-12158.5573,W,1,03,00.5,088.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201215.00,3648.85042,N,12158.55702,W,1,09,1.1,-2.10,M,-32.96,M,,*77 : NMEA Update: $GPGGA,201215.80,3648.8504,N,-12158.5569,W,1,03,00.5,086.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201216.00,3648.85036,N,12158.55693,W,1,09,1.1,-2.01,M,-32.96,M,,*7E : TerrainNav update at nav time = 1624.998680 : TerrainNav update at dvl time = 1624.998680 : _navData-> (x,y) = (4074747.44, 591338.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201216.80,3648.8504,N,-12158.5569,W,1,03,00.5,088.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201217.00,3648.85030,N,12158.55684,W,1,09,1.1,-2.50,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201217.80,3648.8503,N,-12158.5568,W,1,03,00.5,087.1,M,-99.9,M,,*46 : Estimated North Bias at time = 1625.00 : 24.15 : Estimated East Bias at time = 1625.00 : 3.47 : Estimated Depth Bias at time = 1625.00 : -1.03 : Estimated northing and easting = 4074771.59 : 591342.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201218.00,3648.85034,N,12158.55679,W,1,09,1.1,-2.69,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201218.80,3648.8503,N,-12158.5568,W,1,03,00.5,085.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201219.00,3648.85041,N,12158.55680,W,1,09,1.1,-2.25,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201219.80,3648.8504,N,-12158.5568,W,1,03,00.5,085.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201220.00,3648.85058,N,12158.55655,W,1,09,1.1,-1.91,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201220.80,3648.8506,N,-12158.5565,W,1,03,00.5,087.4,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201221.00,3648.85075,N,12158.55615,W,1,09,1.1,-1.66,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1629.998338 : TerrainNav update at dvl time = 1629.998338 : _navData-> (x,y) = (4074748.23, 591339.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201221.80,3648.8508,N,-12158.5561,W,1,03,00.5,087.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201222.00,3648.85080,N,12158.55563,W,1,09,1.1,-2.42,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201222.80,3648.8508,N,-12158.5555,W,1,03,00.5,087.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1630.00 : 24.07 : Estimated East Bias at time = 1630.00 : 3.47 : Estimated Depth Bias at time = 1630.00 : -1.04 : Estimated northing and easting = 4074772.30 : 591343.41 : AshtechGps::processRecord() - $GPGGA,201223.00,3648.85085,N,12158.55528,W,1,09,1.1,-3.19,M,-32.96,M,,*7B : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201223.80,3648.8509,N,-12158.5552,W,1,03,00.5,087.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201224.00,3648.85088,N,12158.55526,W,1,09,1.1,-3.26,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201224.80,3648.8509,N,-12158.5552,W,1,03,00.5,086.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201225.00,3648.85090,N,12158.55534,W,1,09,1.1,-3.22,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201225.80,3648.8509,N,-12158.5554,W,1,03,00.5,086.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201226.00,3648.85083,N,12158.55540,W,1,09,1.1,-2.53,M,-32.96,M,,*79 : TerrainNav update at nav time = 1634.997995 : TerrainNav update at dvl time = 1634.997995 : _navData-> (x,y) = (4074748.26, 591340.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201226.80,3648.8508,N,-12158.5554,W,1,03,00.5,084.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201227.00,3648.85097,N,12158.55533,W,1,09,1.1,-2.20,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201227.80,3648.8510,N,-12158.5553,W,1,03,00.5,087.3,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1635.00 : 24.02 : Estimated East Bias at time = 1635.00 : 3.58 : Estimated Depth Bias at time = 1635.00 : -1.03 : Estimated northing and easting = 4074772.28 : 591344.53 : AshtechGps::processRecord() - $GPGGA,201228.00,3648.85079,N,12158.55530,W,1,09,1.1,-2.32,M,-32.96,M,,*72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201228.80,3648.8508,N,-12158.5553,W,1,03,00.5,086.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201229.00,3648.85089,N,12158.55502,W,1,09,1.1,-1.90,M,-32.96,M,,*76 : NMEA Update: $GPGGA,201229.80,3648.8509,N,-12158.5550,W,1,03,00.5,085.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201230.00,3648.85086,N,12158.55457,W,1,09,1.1,-1.71,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201230.80,3648.8509,N,-12158.5545,W,1,03,00.5,085.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201231.00,3648.85085,N,12158.55419,W,1,09,1.1,-1.57,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1639.997653 : TerrainNav update at dvl time = 1639.997653 : _navData-> (x,y) = (4074748.39, 591342.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201231.80,3648.8508,N,-12158.5541,W,1,03,00.5,088.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201232.00,3648.85098,N,12158.55374,W,1,09,1.1,-1.91,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201232.80,3648.8510,N,-12158.5537,W,1,03,00.5,085.0,M,-99.9,M,,*4a : Estimated North Bias at time = 1640.00 : 25.31 : Estimated East Bias at time = 1640.00 : 3.72 : Estimated Depth Bias at time = 1640.00 : -1.03 : Estimated northing and easting = 4074773.70 : 591346.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201233.00,3648.85092,N,12158.55356,W,1,09,1.1,-2.45,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201233.80,3648.8509,N,-12158.5535,W,1,03,00.5,082.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201234.00,3648.85116,N,12158.55354,W,1,09,1.1,-2.71,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201234.80,3648.8512,N,-12158.5536,W,1,03,00.5,085.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201235.00,3648.85112,N,12158.55363,W,1,09,1.1,-2.84,M,-32.96,M,,*7F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201235.80,3648.8511,N,-12158.5536,W,1,03,00.5,081.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201236.00,3648.85116,N,12158.55367,W,1,09,1.1,-3.28,M,-32.96,M,,*7B : TerrainNav update at nav time = 1644.997310 : TerrainNav update at dvl time = 1644.997310 : _navData-> (x,y) = (4074748.93, 591343.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201236.80,3648.8512,N,-12158.5537,W,1,03,00.5,085.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201237.00,3648.85119,N,12158.55397,W,1,09,1.1,-2.61,M,-32.96,M,,*76 : Estimated North Bias at time = 1645.00 : 26.75 : Estimated East Bias at time = 1645.00 : 4.21 : Estimated Depth Bias at time = 1645.00 : -1.02 : Estimated northing and easting = 4074775.67 : 591347.69 : NMEA Update: $GPGGA,201237.80,3648.8512,N,-12158.5540,W,1,03,00.5,086.3,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201238.00,3648.85134,N,12158.55388,W,1,09,1.1,-1.96,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201238.80,3648.8514,N,-12158.5539,W,1,03,00.5,085.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201239.00,3648.85138,N,12158.55343,W,1,09,1.1,-1.17,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201239.80,3648.8514,N,-12158.5534,W,1,03,00.5,089.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201240.00,3648.85141,N,12158.55277,W,1,09,1.1,-1.21,M,-32.96,M,,*73 : NMEA Update: $GPGGA,201240.80,3648.8514,N,-12158.5526,W,1,03,00.5,087.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201241.00,3648.85144,N,12158.55217,W,1,09,1.1,-1.66,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1649.996968 : TerrainNav update at dvl time = 1649.996968 : _navData-> (x,y) = (4074749.53, 591345.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201241.80,3648.8515,N,-12158.5521,W,1,03,00.5,086.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201242.00,3648.85150,N,12158.55174,W,1,09,1.1,-1.93,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201242.80,3648.8515,N,-12158.5517,W,1,03,00.5,086.7,M,-99.9,M,,*4e : Estimated North Bias at time = 1650.00 : 26.72 : Estimated East Bias at time = 1650.00 : 4.23 : Estimated Depth Bias at time = 1650.00 : -1.02 : Estimated northing and easting = 4074776.24 : 591350.13 : AshtechGps::processRecord() - $GPGGA,201243.00,3648.85153,N,12158.55147,W,1,09,1.1,-2.29,M,-32.96,M,,*78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201243.80,3648.8515,N,-12158.5514,W,1,03,00.5,085.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201244.00,3648.85140,N,12158.55152,W,1,09,1.1,-2.77,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201244.80,3648.8514,N,-12158.5516,W,1,03,00.5,085.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201245.00,3648.85141,N,12158.55159,W,1,09,1.1,-3.28,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201245.80,3648.8514,N,-12158.5516,W,1,03,00.5,087.4,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201246.00,3648.85139,N,12158.55191,W,1,09,1.1,-3.44,M,-32.96,M,,*70 : TerrainNav update at nav time = 1654.996625 : TerrainNav update at dvl time = 1654.996625 : _navData-> (x,y) = (4074749.42, 591346.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201246.80,3648.8514,N,-12158.5520,W,1,03,00.5,084.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201247.00,3648.85143,N,12158.55200,W,1,09,1.1,-3.36,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201247.80,3648.8515,N,-12158.5521,W,1,03,00.5,084.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201248.00,3648.85139,N,12158.55212,W,1,09,1.1,-2.76,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1655.00 : 26.74 : Estimated East Bias at time = 1655.00 : 4.37 : Estimated Depth Bias at time = 1655.00 : -1.01 : Estimated northing and easting = 4074776.16 : 591350.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201248.80,3648.8514,N,-12158.5521,W,1,03,00.5,086.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201249.00,3648.85145,N,12158.55184,W,1,09,1.1,-2.15,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201249.80,3648.8515,N,-12158.5518,W,1,03,00.5,085.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201250.00,3648.85147,N,12158.55151,W,1,09,1.1,-1.94,M,-32.96,M,,*7D : NMEA Update: $GPGGA,201250.80,3648.8515,N,-12158.5514,W,1,03,00.5,082.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201251.00,3648.85156,N,12158.55107,W,1,09,1.1,-1.84,M,-32.96,M,,*7E : TerrainNav update at nav time = 1659.996283 : TerrainNav update at dvl time = 1659.996283 : _navData-> (x,y) = (4074749.72, 591347.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201251.80,3648.8516,N,-12158.5510,W,1,03,00.5,085.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201252.00,3648.85147,N,12158.55071,W,1,09,1.1,-1.88,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201252.80,3648.8515,N,-12158.5506,W,1,03,00.5,084.0,M,-99.9,M,,*4a : Estimated North Bias at time = 1660.00 : 27.12 : Estimated East Bias at time = 1660.00 : 4.62 : Estimated Depth Bias at time = 1660.00 : -1.01 : Estimated northing and easting = 4074776.84 : 591352.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201253.00,3648.85139,N,12158.55061,W,1,09,1.1,-2.00,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201253.80,3648.8514,N,-12158.5505,W,1,03,00.5,084.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201254.00,3648.85156,N,12158.55038,W,1,09,1.1,-1.62,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201254.80,3648.8516,N,-12158.5504,W,1,03,00.5,085.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201255.00,3648.85157,N,12158.55022,W,1,09,1.1,-2.15,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201255.80,3648.8516,N,-12158.5501,W,1,03,00.5,080.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201256.00,3648.85167,N,12158.55015,W,1,09,1.1,-2.07,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1664.995940 : TerrainNav update at dvl time = 1664.995940 : _navData-> (x,y) = (4074749.96, 591348.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201256.80,3648.8517,N,-12158.5502,W,1,03,00.5,088.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201257.00,3648.85181,N,12158.55003,W,1,09,1.1,-2.21,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201257.80,3648.8518,N,-12158.5500,W,1,03,00.5,084.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1665.00 : 27.81 : Estimated East Bias at time = 1665.00 : 5.04 : Estimated Depth Bias at time = 1665.00 : -1.00 : Estimated northing and easting = 4074777.77 : 591353.75 : AshtechGps::processRecord() - $GPGGA,201258.00,3648.85180,N,12158.54994,W,1,09,1.1,-2.52,M,-32.96,M,,*77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201258.80,3648.8518,N,-12158.5499,W,1,03,00.5,084.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201259.00,3648.85188,N,12158.54971,W,1,09,1.1,-2.34,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201259.80,3648.8519,N,-12158.5497,W,1,03,00.5,084.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201300.00,3648.85171,N,12158.54958,W,1,09,1.1,-2.34,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201300.80,3648.8517,N,-12158.5495,W,1,03,00.5,088.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201301.00,3648.85174,N,12158.54934,W,1,09,1.1,-2.31,M,-32.96,M,,*7E : TerrainNav update at nav time = 1669.995597 : TerrainNav update at dvl time = 1669.995597 : _navData-> (x,y) = (4074750.01, 591350.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201301.80,3648.8517,N,-12158.5493,W,1,03,00.5,083.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201302.00,3648.85169,N,12158.54923,W,1,09,1.1,-2.43,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201302.80,3648.8517,N,-12158.5492,W,1,03,00.5,079.0,M,-99.9,M,,*42 : Estimated North Bias at time = 1670.00 : 27.81 : Estimated East Bias at time = 1670.00 : 5.07 : Estimated Depth Bias at time = 1670.00 : -1.00 : Estimated northing and easting = 4074777.82 : 591355.06 : AshtechGps::processRecord() - $GPGGA,201303.00,3648.85163,N,12158.54917,W,1,09,1.1,-2.90,M,-32.96,M,,*70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201303.80,3648.8516,N,-12158.5492,W,1,03,00.5,088.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201304.00,3648.85165,N,12158.54926,W,1,09,1.1,-3.00,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201304.80,3648.8516,N,-12158.5493,W,1,03,00.5,083.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201305.00,3648.85161,N,12158.54943,W,1,09,1.1,-2.34,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201305.80,3648.8516,N,-12158.5495,W,1,03,00.5,081.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201306.00,3648.85172,N,12158.54908,W,1,09,1.1,-1.71,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1674.995255 : TerrainNav update at dvl time = 1674.995255 : _navData-> (x,y) = (4074750.08, 591350.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201306.80,3648.8517,N,-12158.5490,W,1,03,00.5,084.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201307.00,3648.85164,N,12158.54876,W,1,09,1.1,-2.09,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201307.80,3648.8516,N,-12158.5487,W,1,03,00.5,084.3,M,-99.9,M,,*43 : Estimated North Bias at time = 1675.00 : 27.74 : Estimated East Bias at time = 1675.00 : 5.13 : Estimated Depth Bias at time = 1675.00 : -1.00 : Estimated northing and easting = 4074777.82 : 591355.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201308.00,3648.85166,N,12158.54857,W,1,09,1.1,-1.86,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201308.80,3648.8517,N,-12158.5485,W,1,03,00.5,083.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201309.00,3648.85162,N,12158.54841,W,1,09,1.1,-2.03,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201309.80,3648.8516,N,-12158.5483,W,1,03,00.5,089.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201310.00,3648.85167,N,12158.54804,W,1,09,1.1,-2.03,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201310.80,3648.8517,N,-12158.5480,W,1,03,00.5,084.0,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201311.00,3648.85164,N,12158.54791,W,1,09,1.1,-1.85,M,-32.96,M,,*73 : TerrainNav update at nav time = 1679.994912 : TerrainNav update at dvl time = 1679.994912 : _navData-> (x,y) = (4074749.93, 591352.14) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201311.80,3648.8516,N,-12158.5479,W,1,03,00.5,087.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201312.00,3648.85177,N,12158.54760,W,1,09,1.1,-2.28,M,-32.96,M,,*78 : NMEA Update: $GPGGA,201312.80,3648.8518,N,-12158.5476,W,1,03,00.5,084.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201313.00,3648.85174,N,12158.54767,W,1,09,1.1,-2.77,M,-32.96,M,,*77 : Estimated North Bias at time = 1679.99 : 27.67 : Estimated East Bias at time = 1679.99 : 5.14 : Estimated Depth Bias at time = 1679.99 : -1.00 : Estimated northing and easting = 4074777.60 : 591357.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201313.80,3648.8517,N,-12158.5477,W,1,03,00.5,084.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201314.00,3648.85190,N,12158.54758,W,1,09,1.1,-2.83,M,-32.96,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201314.80,3648.8519,N,-12158.5476,W,1,03,00.5,083.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201315.00,3648.85175,N,12158.54777,W,1,09,1.1,-2.62,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201315.80,3648.8518,N,-12158.5478,W,1,03,00.5,086.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201316.00,3648.85183,N,12158.54768,W,1,09,1.1,-2.19,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1684.994570 : TerrainNav update at dvl time = 1684.994570 : _navData-> (x,y) = (4074750.27, 591352.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201316.81,3648.8518,N,-12158.5476,W,1,03,00.5,084.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201317.00,3648.85197,N,12158.54732,W,1,09,1.1,-1.66,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201317.81,3648.8520,N,-12158.5472,W,1,03,00.5,081.1,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201318.00,3648.85209,N,12158.54687,W,1,09,1.1,-2.09,M,-32.96,M,,*73 : Estimated North Bias at time = 1684.99 : 29.01 : Estimated East Bias at time = 1684.99 : 5.66 : Estimated Depth Bias at time = 1684.99 : -0.99 : Estimated northing and easting = 4074779.28 : 591358.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201318.81,3648.8521,N,-12158.5468,W,1,03,00.5,086.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201319.00,3648.85211,N,12158.54665,W,1,09,1.1,-2.75,M,-32.96,M,,*7C : NMEA Update: $GPGGA,201319.81,3648.8521,N,-12158.5466,W,1,03,00.5,081.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201320.00,3648.85195,N,12158.54689,W,1,09,1.1,-3.07,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201320.81,3648.8519,N,-12158.5469,W,1,03,00.5,084.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201321.00,3648.85190,N,12158.54686,W,1,09,1.1,-2.61,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1689.994227 : TerrainNav update at dvl time = 1689.994227 : _navData-> (x,y) = (4074750.37, 591353.56) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201321.81,3648.8519,N,-12158.5469,W,1,03,00.5,082.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201322.00,3648.85178,N,12158.54662,W,1,09,1.1,-2.08,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201322.81,3648.8518,N,-12158.5466,W,1,03,00.5,085.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201323.00,3648.85179,N,12158.54624,W,1,09,1.1,-1.50,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1689.99 : 29.12 : Estimated East Bias at time = 1689.99 : 5.86 : Estimated Depth Bias at time = 1689.99 : -0.99 : Estimated northing and easting = 4074779.49 : 591359.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201323.81,3648.8518,N,-12158.5462,W,1,03,00.5,087.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201324.00,3648.85167,N,12158.54596,W,1,09,1.1,-1.79,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201324.81,3648.8517,N,-12158.5459,W,1,03,00.5,086.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201325.00,3648.85179,N,12158.54557,W,1,09,1.1,-1.91,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201325.81,3648.8518,N,-12158.5455,W,1,03,00.5,084.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201326.00,3648.85182,N,12158.54539,W,1,09,1.1,-2.75,M,-32.96,M,,*73 : TerrainNav update at nav time = 1694.993885 : TerrainNav update at dvl time = 1694.993885 : _navData-> (x,y) = (4074750.36, 591355.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201326.81,3648.8519,N,-12158.5453,W,1,03,00.5,086.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201327.00,3648.85195,N,12158.54535,W,1,09,1.1,-3.16,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201327.81,3648.8520,N,-12158.5453,W,1,03,00.5,083.5,M,-99.9,M,,*4d : Estimated North Bias at time = 1694.99 : 29.00 : Estimated East Bias at time = 1694.99 : 6.02 : Estimated Depth Bias at time = 1694.99 : -0.99 : Estimated northing and easting = 4074779.36 : 591361.96 : AshtechGps::processRecord() - $GPGGA,201328.00,3648.85210,N,12158.54539,W,1,09,1.1,-3.53,M,-32.96,M,,*70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201328.81,3648.8521,N,-12158.5454,W,1,03,00.5,085.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201329.00,3648.85187,N,12158.54592,W,1,09,1.1,-3.37,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201329.81,3648.8518,N,-12158.5460,W,1,03,00.5,084.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201330.00,3648.85194,N,12158.54593,W,1,09,1.1,-3.18,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201330.81,3648.8519,N,-12158.5460,W,1,03,00.5,085.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201331.00,3648.85189,N,12158.54587,W,1,09,1.1,-1.99,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1699.993542 : TerrainNav update at dvl time = 1699.993542 : _navData-> (x,y) = (4074750.42, 591355.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201331.81,3648.8519,N,-12158.5459,W,1,03,00.5,087.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201332.00,3648.85197,N,12158.54510,W,1,09,1.1,-1.72,M,-32.96,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201332.81,3648.8520,N,-12158.5450,W,1,03,00.5,085.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1699.99 : 28.95 : Estimated East Bias at time = 1699.99 : 6.20 : Estimated Depth Bias at time = 1699.99 : -0.98 : Estimated northing and easting = 4074779.37 : 591361.30 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201333.00,3648.85210,N,12158.54445,W,1,09,1.1,-1.55,M,-32.96,M,,*74 : NMEA Update: $GPGGA,201333.81,3648.8521,N,-12158.5443,W,1,03,00.5,087.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201334.00,3648.85202,N,12158.54417,W,1,09,1.1,-2.18,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201334.81,3648.8520,N,-12158.5441,W,1,03,00.5,083.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201335.00,3648.85201,N,12158.54418,W,1,09,1.1,-2.38,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201335.81,3648.8520,N,-12158.5442,W,1,03,00.5,087.0,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201336.00,3648.85203,N,12158.54414,W,1,09,1.1,-2.19,M,-32.96,M,,*7C : TerrainNav update at nav time = 1704.993200 : TerrainNav update at dvl time = 1704.993200 : _navData-> (x,y) = (4074750.75, 591357.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201336.81,3648.8520,N,-12158.5441,W,1,03,00.5,085.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201337.00,3648.85209,N,12158.54397,W,1,09,1.1,-2.60,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201337.81,3648.8521,N,-12158.5439,W,1,03,00.5,086.7,M,-99.9,M,,*46 : Estimated North Bias at time = 1704.99 : 28.92 : Estimated East Bias at time = 1704.99 : 6.38 : Estimated Depth Bias at time = 1704.99 : -0.98 : Estimated northing and easting = 4074779.66 : 591364.05 : AshtechGps::processRecord() - $GPGGA,201338.00,3648.85203,N,12158.54403,W,1,09,1.1,-2.48,M,-32.96,M,,*70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201338.81,3648.8520,N,-12158.5440,W,1,03,00.5,084.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201339.00,3648.85217,N,12158.54374,W,1,09,1.1,-2.17,M,-32.96,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201339.81,3648.8522,N,-12158.5437,W,1,03,00.5,084.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201340.00,3648.85205,N,12158.54365,W,1,09,1.1,-2.35,M,-32.96,M,,*74 : NMEA Update: $GPGGA,201340.81,3648.8521,N,-12158.5436,W,1,03,00.5,087.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201341.00,3648.85210,N,12158.54344,W,1,09,1.1,-2.37,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1710.002857 : TerrainNav update at dvl time = 1710.002857 : _navData-> (x,y) = (4074750.83, 591358.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201341.81,3648.8521,N,-12158.5434,W,1,03,00.5,083.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201342.00,3648.85202,N,12158.54338,W,1,09,1.1,-2.72,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201342.81,3648.8520,N,-12158.5434,W,1,03,00.5,087.2,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201343.00,3648.85198,N,12158.54326,W,1,09,1.1,-2.66,M,-32.96,M,,*71 : Estimated North Bias at time = 1710.00 : 29.11 : Estimated East Bias at time = 1710.00 : 6.70 : Estimated Depth Bias at time = 1710.00 : -0.98 : Estimated northing and easting = 4074779.94 : 591365.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201343.81,3648.8520,N,-12158.5432,W,1,03,00.5,084.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201344.00,3648.85193,N,12158.54314,W,1,09,1.1,-2.70,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201344.81,3648.8519,N,-12158.5431,W,1,03,00.5,085.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201345.00,3648.85187,N,12158.54313,W,1,09,1.1,-2.54,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201345.81,3648.8519,N,-12158.5431,W,1,03,00.5,085.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201346.00,3648.85204,N,12158.54295,W,1,09,1.1,-2.29,M,-32.96,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1715.002514 : TerrainNav update at dvl time = 1715.002514 : _navData-> (x,y) = (4074750.76, 591359.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201346.81,3648.8521,N,-12158.5429,W,1,03,00.5,085.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201347.00,3648.85203,N,12158.54304,W,1,09,1.1,-2.11,M,-32.96,M,,*74 : NMEA Update: $GPGGA,201347.81,3648.8520,N,-12158.5430,W,1,03,00.5,084.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201348.00,3648.85213,N,12158.54278,W,1,09,1.1,-2.46,M,-32.96,M,,*72 : Estimated North Bias at time = 1715.00 : 29.22 : Estimated East Bias at time = 1715.00 : 6.70 : Estimated Depth Bias at time = 1715.00 : -0.98 : Estimated northing and easting = 4074779.98 : 591366.18 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201348.81,3648.8521,N,-12158.5428,W,1,03,00.5,085.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201349.00,3648.85216,N,12158.54282,W,1,09,1.1,-2.01,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201349.81,3648.8522,N,-12158.5428,W,1,03,00.5,085.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201350.00,3648.85215,N,12158.54257,W,1,09,1.1,-1.15,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201350.81,3648.8522,N,-12158.5425,W,1,03,00.5,085.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201351.00,3648.85206,N,12158.54219,W,1,09,1.1,-1.72,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1720.002172 : TerrainNav update at dvl time = 1720.002172 : _navData-> (x,y) = (4074750.76, 591360.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201351.81,3648.8520,N,-12158.5421,W,1,03,00.5,087.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201352.00,3648.85205,N,12158.54208,W,1,09,1.1,-1.89,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201352.81,3648.8521,N,-12158.5420,W,1,03,00.5,085.1,M,-99.9,M,,*48 : Estimated North Bias at time = 1720.00 : 29.07 : Estimated East Bias at time = 1720.00 : 6.87 : Estimated Depth Bias at time = 1720.00 : -0.98 : Estimated northing and easting = 4074779.83 : 591367.58 : AshtechGps::processRecord() - $GPGGA,201353.00,3648.85210,N,12158.54179,W,1,09,1.1,-1.82,M,-32.96,M,,*72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201353.81,3648.8521,N,-12158.5417,W,1,03,00.5,085.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201354.00,3648.85193,N,12158.54171,W,1,09,1.1,-2.17,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201354.81,3648.8519,N,-12158.5417,W,1,03,00.5,084.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201355.00,3648.85196,N,12158.54160,W,1,09,1.1,-2.30,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201355.81,3648.8520,N,-12158.5416,W,1,03,00.5,084.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201356.00,3648.85200,N,12158.54140,W,1,09,1.1,-2.41,M,-32.96,M,,*70 : TerrainNav update at nav time = 1725.001829 : TerrainNav update at dvl time = 1725.001829 : _navData-> (x,y) = (4074750.68, 591361.72) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201356.81,3648.8520,N,-12158.5414,W,1,03,00.5,085.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201357.00,3648.85194,N,12158.54135,W,1,09,1.1,-2.86,M,-32.96,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201357.81,3648.8520,N,-12158.5413,W,1,03,00.5,087.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201358.00,3648.85193,N,12158.54145,W,1,09,1.1,-2.99,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1725.00 : 29.17 : Estimated East Bias at time = 1725.00 : 7.00 : Estimated Depth Bias at time = 1725.00 : -0.98 : Estimated northing and easting = 4074779.86 : 591368.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201358.81,3648.8519,N,-12158.5415,W,1,03,00.5,083.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201359.00,3648.85192,N,12158.54159,W,1,09,1.1,-2.91,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201359.81,3648.8519,N,-12158.5416,W,1,03,00.5,086.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201400.00,3648.85193,N,12158.54166,W,1,09,1.1,-2.70,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201400.81,3648.8520,N,-12158.5417,W,1,03,00.5,084.7,M,-99.9,M,,*4a : 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,201401.00,3648.85193,N,12158.54166,W,1,09,1.1,-2.45,M,-32.96,M,,*7C : TerrainNav update at nav time = 1730.001487 : TerrainNav update at dvl time = 1730.001487 : _navData-> (x,y) = (4074750.60, 591361.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201401.81,3648.8520,N,-12158.5416,W,1,03,00.5,084.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201402.00,3648.85186,N,12158.54140,W,1,09,1.1,-2.08,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201402.81,3648.8518,N,-12158.5414,W,1,03,00.5,084.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201403.00,3648.85184,N,12158.54084,W,1,09,1.1,-1.23,M,-32.96,M,,*76 : Estimated North Bias at time = 1730.00 : 29.20 : Estimated East Bias at time = 1730.00 : 6.95 : Estimated Depth Bias at time = 1730.00 : -0.98 : Estimated northing and easting = 4074779.80 : 591368.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201403.81,3648.8518,N,-12158.5408,W,1,03,00.5,086.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201404.00,3648.85188,N,12158.54027,W,1,09,1.1,-1.01,M,-32.96,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201404.81,3648.8519,N,-12158.5402,W,1,03,00.5,086.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201405.00,3648.85198,N,12158.53973,W,1,09,1.1,-1.34,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201405.81,3648.8520,N,-12158.5396,W,1,03,00.5,085.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201406.00,3648.85188,N,12158.53966,W,1,09,1.1,-2.37,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1735.001144 : TerrainNav update at dvl time = 1735.001144 : _navData-> (x,y) = (4074750.52, 591364.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201406.81,3648.8519,N,-12158.5396,W,1,03,00.5,084.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201407.00,3648.85190,N,12158.53986,W,1,09,1.1,-2.94,M,-32.96,M,,*74 : NMEA Update: $GPGGA,201407.81,3648.8519,N,-12158.5399,W,1,03,00.5,084.2,M,-99.9,M,,*43 : 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,201408.00,3648.85197,N,12158.54011,W,1,09,1.1,-2.76,M,-32.96,M,,*70 : Estimated North Bias at time = 1735.00 : 29.00 : Estimated East Bias at time = 1735.00 : 6.93 : Estimated Depth Bias at time = 1735.00 : -0.98 : Estimated northing and easting = 4074779.52 : 591371.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201408.81,3648.8520,N,-12158.5402,W,1,03,00.5,086.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201409.00,3648.85202,N,12158.54023,W,1,09,1.1,-2.54,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201409.81,3648.8520,N,-12158.5403,W,1,03,00.5,084.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201410.00,3648.85215,N,12158.53997,W,1,09,1.1,-2.19,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201410.81,3648.8522,N,-12158.5399,W,1,03,00.5,085.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201411.00,3648.85204,N,12158.53972,W,1,09,1.1,-1.92,M,-32.96,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1740.000802 : TerrainNav update at dvl time = 1740.000802 : _navData-> (x,y) = (4074750.74, 591364.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201411.81,3648.8520,N,-12158.5396,W,1,03,00.5,085.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201412.00,3648.85201,N,12158.53951,W,1,09,1.1,-2.10,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201412.80,3648.8520,N,-12158.5395,W,1,03,00.5,084.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201413.00,3648.85191,N,12158.53950,W,1,09,1.1,-2.18,M,-32.96,M,,*7F : Estimated North Bias at time = 1740.00 : 28.95 : Estimated East Bias at time = 1740.00 : 6.99 : Estimated Depth Bias at time = 1740.00 : -0.98 : Estimated northing and easting = 4074779.70 : 591371.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201413.80,3648.8519,N,-12158.5395,W,1,03,00.5,084.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201414.00,3648.85195,N,12158.53943,W,1,09,1.1,-2.33,M,-32.96,M,,*77 : NMEA Update: $GPGGA,201414.80,3648.8519,N,-12158.5394,W,1,03,00.5,084.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201415.00,3648.85204,N,12158.53933,W,1,09,1.1,-1.89,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201415.80,3648.8521,N,-12158.5394,W,1,03,00.5,084.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201416.00,3648.85203,N,12158.53893,W,1,09,1.1,-1.69,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1745.000459 : TerrainNav update at dvl time = 1745.000459 : _navData-> (x,y) = (4074750.80, 591365.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201416.80,3648.8520,N,-12158.5388,W,1,03,00.5,084.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201417.00,3648.85197,N,12158.53859,W,1,09,1.1,-1.80,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201417.80,3648.8520,N,-12158.5385,W,1,03,00.5,084.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201418.00,3648.85195,N,12158.53841,W,1,09,1.1,-2.19,M,-32.96,M,,*70 : Estimated North Bias at time = 1745.00 : 28.94 : Estimated East Bias at time = 1745.00 : 6.98 : Estimated Depth Bias at time = 1745.00 : -0.98 : Estimated northing and easting = 4074779.74 : 591372.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201418.80,3648.8520,N,-12158.5383,W,1,03,00.5,084.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201419.00,3648.85201,N,12158.53822,W,1,09,1.1,-2.59,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201419.80,3648.8520,N,-12158.5382,W,1,03,00.5,083.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201420.00,3648.85208,N,12158.53823,W,1,09,1.1,-2.71,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201420.80,3648.8521,N,-12158.5382,W,1,03,00.5,085.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201421.00,3648.85222,N,12158.53819,W,1,09,1.1,-2.53,M,-32.96,M,,*76 : TerrainNav update at nav time = 1750.000117 : TerrainNav update at dvl time = 1750.000117 : _navData-> (x,y) = (4074751.15, 591366.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201421.80,3648.8522,N,-12158.5382,W,1,03,00.5,082.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201422.00,3648.85225,N,12158.53824,W,1,09,1.1,-2.16,M,-32.96,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201422.80,3648.8523,N,-12158.5382,W,1,03,00.5,087.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201423.00,3648.85217,N,12158.53814,W,1,09,1.1,-1.86,M,-32.96,M,,*74 : Estimated North Bias at time = 1750.00 : 28.97 : Estimated East Bias at time = 1750.00 : 7.19 : Estimated Depth Bias at time = 1750.00 : -0.98 : Estimated northing and easting = 4074780.13 : 591373.69 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201423.80,3648.8522,N,-12158.5381,W,1,03,00.5,083.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201424.00,3648.85217,N,12158.53782,W,1,09,1.1,-2.00,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201424.80,3648.8522,N,-12158.5378,W,1,03,00.5,085.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201425.00,3648.85213,N,12158.53765,W,1,09,1.1,-2.14,M,-32.96,M,,*77 : NMEA Update: $GPGGA,201425.80,3648.8521,N,-12158.5376,W,1,03,00.5,086.5,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201426.00,3648.85200,N,12158.53758,W,1,09,1.1,-2.55,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1754.999774 : TerrainNav update at dvl time = 1754.999774 : _navData-> (x,y) = (4074750.74, 591367.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201426.80,3648.8520,N,-12158.5375,W,1,03,00.5,083.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201427.00,3648.85202,N,12158.53764,W,1,09,1.1,-2.53,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201427.80,3648.8520,N,-12158.5377,W,1,03,00.5,086.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201428.00,3648.85207,N,12158.53759,W,1,09,1.1,-2.06,M,-32.96,M,,*73 : Estimated North Bias at time = 1755.00 : 28.93 : Estimated East Bias at time = 1755.00 : 7.24 : Estimated Depth Bias at time = 1755.00 : -0.97 : Estimated northing and easting = 4074779.67 : 591374.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201428.80,3648.8521,N,-12158.5376,W,1,03,00.5,085.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201429.00,3648.85223,N,12158.53724,W,1,09,1.1,-1.92,M,-32.96,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201429.80,3648.8522,N,-12158.5372,W,1,03,00.5,085.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201430.00,3648.85225,N,12158.53705,W,1,09,1.1,-1.67,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201430.80,3648.8523,N,-12158.5370,W,1,03,00.5,084.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201431.00,3648.85222,N,12158.53685,W,1,09,1.1,-1.74,M,-32.96,M,,*7A : TerrainNav update at nav time = 1759.999432 : TerrainNav update at dvl time = 1759.999432 : _navData-> (x,y) = (4074751.15, 591368.56) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201431.80,3648.8522,N,-12158.5368,W,1,03,00.5,084.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201432.00,3648.85219,N,12158.53674,W,1,09,1.1,-1.96,M,-32.96,M,,*73 : NMEA Update: $GPGGA,201432.80,3648.8522,N,-12158.5367,W,1,03,00.5,084.9,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201433.00,3648.85217,N,12158.53671,W,1,09,1.1,-2.02,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1760.00 : 28.85 : Estimated East Bias at time = 1760.00 : 7.38 : Estimated Depth Bias at time = 1760.00 : -0.97 : Estimated northing and easting = 4074780.00 : 591375.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201433.80,3648.8522,N,-12158.5367,W,1,03,00.5,085.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201434.00,3648.85217,N,12158.53669,W,1,09,1.1,-2.14,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201434.80,3648.8522,N,-12158.5367,W,1,03,00.5,084.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201435.00,3648.85224,N,12158.53662,W,1,09,1.1,-1.90,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201435.80,3648.8523,N,-12158.5366,W,1,03,00.5,084.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201436.00,3648.85215,N,12158.53649,W,1,09,1.1,-1.64,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1764.999089 : TerrainNav update at dvl time = 1764.999089 : _navData-> (x,y) = (4074751.06, 591369.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201436.80,3648.8522,N,-12158.5365,W,1,03,00.5,085.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201437.00,3648.85212,N,12158.53628,W,1,09,1.1,-1.69,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201437.80,3648.8521,N,-12158.5362,W,1,03,00.5,083.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201438.00,3648.85224,N,12158.53601,W,1,09,1.1,-1.84,M,-32.96,M,,*76 : Estimated North Bias at time = 1765.00 : 28.80 : Estimated East Bias at time = 1765.00 : 7.32 : Estimated Depth Bias at time = 1765.00 : -0.98 : Estimated northing and easting = 4074779.86 : 591376.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201438.80,3648.8523,N,-12158.5359,W,1,03,00.5,085.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201439.00,3648.85230,N,12158.53577,W,1,09,1.1,-2.35,M,-32.96,M,,*79 : NMEA Update: $GPGGA,201439.80,3648.8523,N,-12158.5357,W,1,03,00.5,084.8,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201440.00,3648.85239,N,12158.53575,W,1,09,1.1,-2.96,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201440.80,3648.8524,N,-12158.5358,W,1,03,00.5,084.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201441.00,3648.85220,N,12158.53599,W,1,09,1.1,-2.79,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1769.998747 : TerrainNav update at dvl time = 1769.998747 : _navData-> (x,y) = (4074751.14, 591369.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201441.80,3648.8522,N,-12158.5360,W,1,03,00.5,083.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201442.00,3648.85219,N,12158.53591,W,1,09,1.1,-2.55,M,-32.96,M,,*70 : NMEA Update: $GPGGA,201442.80,3648.8522,N,-12158.5359,W,1,03,00.5,083.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201443.00,3648.85209,N,12158.53578,W,1,09,1.1,-2.11,M,-32.96,M,,*77 : Estimated North Bias at time = 1770.00 : 28.67 : Estimated East Bias at time = 1770.00 : 7.37 : Estimated Depth Bias at time = 1770.00 : -0.97 : Estimated northing and easting = 4074779.80 : 591377.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201443.80,3648.8521,N,-12158.5358,W,1,03,00.5,087.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201444.00,3648.85212,N,12158.53538,W,1,09,1.1,-1.84,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201444.80,3648.8521,N,-12158.5353,W,1,03,00.5,084.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201445.00,3648.85210,N,12158.53501,W,1,09,1.1,-2.00,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201445.80,3648.8521,N,-12158.5349,W,1,03,00.5,085.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201446.00,3648.85219,N,12158.53473,W,1,09,1.1,-2.32,M,-32.96,M,,*78 : TerrainNav update at nav time = 1774.998404 : TerrainNav update at dvl time = 1774.998404 : _navData-> (x,y) = (4074751.20, 591371.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201446.80,3648.8522,N,-12158.5347,W,1,03,00.5,084.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201447.00,3648.85214,N,12158.53472,W,1,09,1.1,-2.86,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201447.80,3648.8521,N,-12158.5347,W,1,03,00.5,084.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201448.00,3648.85215,N,12158.53479,W,1,09,1.1,-2.54,M,-32.96,M,,*70 : Estimated North Bias at time = 1775.00 : 28.68 : Estimated East Bias at time = 1775.00 : 7.31 : Estimated Depth Bias at time = 1775.00 : -0.98 : Estimated northing and easting = 4074779.87 : 591379.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201448.80,3648.8522,N,-12158.5348,W,1,03,00.5,083.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201449.00,3648.85217,N,12158.53476,W,1,09,1.1,-2.22,M,-32.96,M,,*7D : NMEA Update: $GPGGA,201449.80,3648.8522,N,-12158.5348,W,1,03,00.5,085.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201450.00,3648.85212,N,12158.53480,W,1,09,1.1,-2.13,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201450.80,3648.8521,N,-12158.5348,W,1,03,00.5,083.1,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201451.00,3648.85236,N,12158.53442,W,1,09,1.1,-1.50,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1779.998062 : TerrainNav update at dvl time = 1779.998062 : _navData-> (x,y) = (4074751.52, 591372.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201451.80,3648.8524,N,-12158.5344,W,1,03,00.5,088.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201452.00,3648.85233,N,12158.53385,W,1,09,1.1,-1.56,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201452.80,3648.8524,N,-12158.5337,W,1,03,00.5,083.8,M,-99.9,M,,*45 : Estimated North Bias at time = 1780.00 : 28.58 : Estimated East Bias at time = 1780.00 : 7.40 : Estimated Depth Bias at time = 1780.00 : -0.97 : Estimated northing and easting = 4074780.10 : 591379.58 : AshtechGps::processRecord() - $GPGGA,201453.00,3648.85239,N,12158.53347,W,1,09,1.1,-1.91,M,-32.96,M,,*74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201453.80,3648.8524,N,-12158.5334,W,1,03,00.5,084.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201454.00,3648.85240,N,12158.53345,W,1,09,1.1,-2.28,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201454.80,3648.8524,N,-12158.5334,W,1,03,00.5,086.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201455.00,3648.85239,N,12158.53342,W,1,09,1.1,-2.49,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201455.80,3648.8524,N,-12158.5334,W,1,03,00.5,084.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201456.00,3648.85236,N,12158.53340,W,1,09,1.1,-2.58,M,-32.96,M,,*7F : TerrainNav update at nav time = 1784.997719 : TerrainNav update at dvl time = 1784.997719 : _navData-> (x,y) = (4074751.45, 591373.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201456.80,3648.8524,N,-12158.5334,W,1,03,00.5,084.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201457.00,3648.85221,N,12158.53341,W,1,09,1.1,-2.67,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201457.80,3648.8522,N,-12158.5334,W,1,03,00.5,083.5,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1785.00 : 28.50 : Estimated East Bias at time = 1785.00 : 7.49 : Estimated Depth Bias at time = 1785.00 : -0.97 : Estimated northing and easting = 4074779.95 : 591381.12 : AshtechGps::processRecord() - $GPGGA,201458.00,3648.85230,N,12158.53333,W,1,09,1.1,-2.35,M,-32.96,M,,*78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201458.80,3648.8523,N,-12158.5333,W,1,03,00.5,083.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201459.00,3648.85227,N,12158.53315,W,1,09,1.1,-2.18,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201459.80,3648.8523,N,-12158.5331,W,1,03,00.5,086.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201500.00,3648.85210,N,12158.53300,W,1,09,1.1,-2.53,M,-32.96,M,,*76 : NMEA Update: $GPGGA,201500.80,3648.8521,N,-12158.5329,W,1,03,00.5,085.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201501.00,3648.85229,N,12158.53287,W,1,09,1.1,-2.63,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1789.997377 : TerrainNav update at dvl time = 1789.997377 : _navData-> (x,y) = (4074751.34, 591374.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201501.80,3648.8523,N,-12158.5329,W,1,03,00.5,084.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201502.00,3648.85233,N,12158.53287,W,1,09,1.1,-2.62,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201502.80,3648.8524,N,-12158.5329,W,1,03,00.5,084.5,M,-99.9,M,,*44 : Estimated North Bias at time = 1790.00 : 28.44 : Estimated East Bias at time = 1790.00 : 7.62 : Estimated Depth Bias at time = 1790.00 : -0.97 : Estimated northing and easting = 4074779.78 : 591382.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201503.00,3648.85238,N,12158.53279,W,1,09,1.1,-2.42,M,-32.96,M,,*70 : NMEA Update: $GPGGA,201503.80,3648.8524,N,-12158.5328,W,1,03,00.5,084.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201504.00,3648.85233,N,12158.53277,W,1,09,1.1,-2.32,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201504.80,3648.8523,N,-12158.5328,W,1,03,00.5,084.0,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201505.00,3648.85235,N,12158.53259,W,1,09,1.1,-1.74,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201505.80,3648.8524,N,-12158.5326,W,1,03,00.5,084.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201506.00,3648.85226,N,12158.53222,W,1,09,1.1,-1.59,M,-32.96,M,,*7D : TerrainNav update at nav time = 1794.997034 : TerrainNav update at dvl time = 1794.997034 : _navData-> (x,y) = (4074751.29, 591375.46) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201506.80,3648.8522,N,-12158.5321,W,1,03,00.5,084.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201507.00,3648.85241,N,12158.53181,W,1,09,1.1,-1.70,M,-32.96,M,,*7C : NMEA Update: $GPGGA,201507.80,3648.8524,N,-12158.5317,W,1,03,00.5,086.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201508.00,3648.85248,N,12158.53154,W,1,09,1.1,-2.11,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1795.00 : 28.44 : Estimated East Bias at time = 1795.00 : 7.64 : Estimated Depth Bias at time = 1795.00 : -0.97 : Estimated northing and easting = 4074779.73 : 591383.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201508.80,3648.8525,N,-12158.5315,W,1,03,00.5,084.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201509.00,3648.85275,N,12158.53140,W,1,09,1.1,-2.30,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201509.80,3648.8528,N,-12158.5314,W,1,03,00.5,084.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201510.00,3648.85289,N,12158.53132,W,1,09,1.1,-2.52,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201510.80,3648.8529,N,-12158.5313,W,1,03,00.5,084.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201511.00,3648.85294,N,12158.53125,W,1,09,1.1,-2.85,M,-32.96,M,,*74 : TerrainNav update at nav time = 1799.996692 : TerrainNav update at dvl time = 1799.996692 : _navData-> (x,y) = (4074752.60, 591376.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201511.80,3648.8529,N,-12158.5312,W,1,03,00.5,083.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201512.00,3648.85305,N,12158.53124,W,1,09,1.1,-2.74,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201512.80,3648.8531,N,-12158.5312,W,1,03,00.5,085.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201513.00,3648.85292,N,12158.53125,W,1,09,1.1,-2.69,M,-32.96,M,,*72 : Estimated North Bias at time = 1800.00 : 28.31 : Estimated East Bias at time = 1800.00 : 7.96 : Estimated Depth Bias at time = 1800.00 : -0.97 : Estimated northing and easting = 4074780.91 : 591384.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201513.80,3648.8529,N,-12158.5312,W,1,03,00.5,085.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201514.00,3648.85295,N,12158.53112,W,1,09,1.1,-2.32,M,-32.96,M,,*78 : NMEA Update: $GPGGA,201514.80,3648.8529,N,-12158.5311,W,1,03,00.5,083.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201515.00,3648.85287,N,12158.53107,W,1,09,1.1,-2.02,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201515.80,3648.8529,N,-12158.5311,W,1,03,00.5,084.7,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201516.00,3648.85290,N,12158.53075,W,1,09,1.1,-1.64,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1804.996349 : TerrainNav update at dvl time = 1804.996349 : _navData-> (x,y) = (4074752.54, 591377.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201516.80,3648.8529,N,-12158.5307,W,1,03,00.5,084.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201517.00,3648.85292,N,12158.53023,W,1,09,1.1,-1.52,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201517.80,3648.8529,N,-12158.5302,W,1,03,00.5,086.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1805.00 : 28.20 : Estimated East Bias at time = 1805.00 : 8.08 : Estimated Depth Bias at time = 1805.00 : -0.97 : Estimated northing and easting = 4074780.75 : 591385.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201518.00,3648.85299,N,12158.52984,W,1,09,1.1,-2.14,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201518.80,3648.8530,N,-12158.5298,W,1,03,00.5,084.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201519.00,3648.85302,N,12158.52975,W,1,09,1.1,-2.66,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201519.80,3648.8530,N,-12158.5297,W,1,03,00.5,084.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201520.00,3648.85311,N,12158.52980,W,1,09,1.1,-3.36,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201520.80,3648.8531,N,-12158.5298,W,1,03,00.5,083.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201521.00,3648.85309,N,12158.53017,W,1,09,1.1,-3.29,M,-32.96,M,,*75 : TerrainNav update at nav time = 1809.996007 : TerrainNav update at dvl time = 1809.996007 : _navData-> (x,y) = (4074752.90, 591378.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201521.80,3648.8531,N,-12158.5302,W,1,03,00.5,082.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201522.00,3648.85326,N,12158.53029,W,1,09,1.1,-2.82,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201522.80,3648.8533,N,-12158.5303,W,1,03,00.5,081.7,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201523.00,3648.85330,N,12158.53035,W,1,09,1.1,-2.07,M,-32.96,M,,*70 : Estimated North Bias at time = 1810.00 : 28.19 : Estimated East Bias at time = 1810.00 : 8.20 : Estimated Depth Bias at time = 1810.00 : -0.97 : Estimated northing and easting = 4074781.10 : 591386.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201523.80,3648.8533,N,-12158.5303,W,1,03,00.5,084.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201524.00,3648.85335,N,12158.53005,W,1,09,1.1,-1.52,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201524.80,3648.8534,N,-12158.5300,W,1,03,00.5,084.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201525.00,3648.85333,N,12158.52960,W,1,09,1.1,-1.25,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201525.80,3648.8533,N,-12158.5295,W,1,03,00.5,085.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201526.00,3648.85328,N,12158.52917,W,1,09,1.1,-0.95,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1814.995664 : TerrainNav update at dvl time = 1814.995664 : _navData-> (x,y) = (4074753.26, 591380.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201526.80,3648.8533,N,-12158.5291,W,1,03,00.5,084.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201527.00,3648.85331,N,12158.52857,W,1,09,1.1,-1.08,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201527.80,3648.8533,N,-12158.5285,W,1,03,00.5,084.0,M,-99.9,M,,*47 : Estimated North Bias at time = 1815.00 : 28.25 : Estimated East Bias at time = 1815.00 : 8.36 : Estimated Depth Bias at time = 1815.00 : -0.96 : Estimated northing and easting = 4074781.51 : 591388.38 : AshtechGps::processRecord() - $GPGGA,201528.00,3648.85343,N,12158.52820,W,1,09,1.1,-1.75,M,-32.96,M,,*74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201528.80,3648.8534,N,-12158.5281,W,1,03,00.5,087.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201529.00,3648.85359,N,12158.52821,W,1,09,1.1,-2.19,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201529.80,3648.8536,N,-12158.5282,W,1,03,00.5,082.7,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201530.00,3648.85370,N,12158.52823,W,1,09,1.1,-2.29,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201530.80,3648.8537,N,-12158.5282,W,1,03,00.5,086.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201531.00,3648.85364,N,12158.52818,W,1,09,1.1,-2.33,M,-32.96,M,,*73 : TerrainNav update at nav time = 1819.995322 : TerrainNav update at dvl time = 1819.995322 : _navData-> (x,y) = (4074753.92, 591381.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201531.80,3648.8536,N,-12158.5282,W,1,03,00.5,083.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201532.00,3648.85357,N,12158.52817,W,1,09,1.1,-2.68,M,-32.96,M,,*71 : NMEA Update: $GPGGA,201532.80,3648.8535,N,-12158.5282,W,1,03,00.5,083.7,M,-99.9,M,,*42 : Estimated North Bias at time = 1820.00 : 28.08 : Estimated East Bias at time = 1820.00 : 8.54 : Estimated Depth Bias at time = 1820.00 : -0.96 : Estimated northing and easting = 4074782.00 : 591389.91 : AshtechGps::processRecord() - $GPGGA,201533.00,3648.85350,N,12158.52834,W,1,09,1.1,-2.74,M,-32.96,M,,*7B : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201533.80,3648.8535,N,-12158.5284,W,1,03,00.5,084.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201534.00,3648.85334,N,12158.52852,W,1,09,1.1,-2.56,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201534.80,3648.8533,N,-12158.5285,W,1,03,00.5,081.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201535.00,3648.85335,N,12158.52843,W,1,09,1.1,-2.31,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201535.80,3648.8533,N,-12158.5284,W,1,03,00.5,087.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201536.00,3648.85331,N,12158.52836,W,1,09,1.1,-1.68,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1824.994979 : TerrainNav update at dvl time = 1824.994979 : _navData-> (x,y) = (4074753.36, 591381.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201536.80,3648.8533,N,-12158.5283,W,1,03,00.5,083.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201537.00,3648.85343,N,12158.52805,W,1,09,1.1,-1.79,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201537.80,3648.8534,N,-12158.5280,W,1,03,00.5,084.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201538.00,3648.85342,N,12158.52796,W,1,09,1.1,-1.94,M,-32.96,M,,*79 : Estimated North Bias at time = 1824.99 : 28.12 : Estimated East Bias at time = 1824.99 : 8.61 : Estimated Depth Bias at time = 1824.99 : -0.96 : Estimated northing and easting = 4074781.47 : 591389.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201538.80,3648.8534,N,-12158.5279,W,1,03,00.5,083.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201539.00,3648.85351,N,12158.52776,W,1,09,1.1,-1.89,M,-32.96,M,,*78 : NMEA Update: $GPGGA,201539.80,3648.8535,N,-12158.5277,W,1,03,00.5,083.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201540.00,3648.85353,N,12158.52756,W,1,09,1.1,-1.41,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201540.80,3648.8535,N,-12158.5275,W,1,03,00.5,084.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201541.00,3648.85352,N,12158.52731,W,1,09,1.1,-1.27,M,-32.96,M,,*73 : TerrainNav update at nav time = 1829.994637 : TerrainNav update at dvl time = 1829.994637 : _navData-> (x,y) = (4074753.73, 591382.74) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201541.80,3648.8535,N,-12158.5272,W,1,03,00.5,083.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201542.00,3648.85359,N,12158.52699,W,1,09,1.1,-1.40,M,-32.96,M,,*79 : NMEA Update: $GPGGA,201542.81,3648.8536,N,-12158.5269,W,1,03,00.5,085.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201543.00,3648.85353,N,12158.52682,W,1,09,1.1,-1.74,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1829.99 : 28.26 : Estimated East Bias at time = 1829.99 : 8.74 : Estimated Depth Bias at time = 1829.99 : -0.96 : Estimated northing and easting = 4074781.99 : 591391.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201543.81,3648.8535,N,-12158.5268,W,1,03,00.5,083.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201544.00,3648.85352,N,12158.52668,W,1,09,1.1,-2.21,M,-32.96,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201544.81,3648.8535,N,-12158.5267,W,1,03,00.5,086.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201545.00,3648.85344,N,12158.52676,W,1,09,1.1,-2.35,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201545.81,3648.8534,N,-12158.5268,W,1,03,00.5,082.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201546.00,3648.85363,N,12158.52648,W,1,09,1.1,-2.07,M,-32.96,M,,*78 : TerrainNav update at nav time = 1834.994294 : TerrainNav update at dvl time = 1834.994294 : _navData-> (x,y) = (4074753.98, 591383.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201546.81,3648.8537,N,-12158.5264,W,1,03,00.5,084.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201547.00,3648.85368,N,12158.52650,W,1,09,1.1,-2.56,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201547.81,3648.8537,N,-12158.5265,W,1,03,00.5,082.7,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201548.00,3648.85367,N,12158.52668,W,1,09,1.1,-2.47,M,-32.96,M,,*74 : Estimated North Bias at time = 1834.99 : 28.31 : Estimated East Bias at time = 1834.99 : 8.82 : Estimated Depth Bias at time = 1834.99 : -0.96 : Estimated northing and easting = 4074782.28 : 591392.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201548.81,3648.8537,N,-12158.5267,W,1,03,00.5,084.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201549.00,3648.85358,N,12158.52663,W,1,09,1.1,-2.52,M,-32.96,M,,*76 : NMEA Update: $GPGGA,201549.81,3648.8536,N,-12158.5266,W,1,03,00.5,083.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201550.00,3648.85362,N,12158.52648,W,1,09,1.1,-2.18,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201550.81,3648.8536,N,-12158.5265,W,1,03,00.5,083.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201551.00,3648.85358,N,12158.52626,W,1,09,1.1,-2.03,M,-32.96,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1839.993952 : TerrainNav update at dvl time = 1839.993952 : _navData-> (x,y) = (4074753.83, 591384.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201551.81,3648.8536,N,-12158.5262,W,1,03,00.5,083.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201552.00,3648.85342,N,12158.52612,W,1,09,1.1,-1.93,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201552.81,3648.8534,N,-12158.5261,W,1,03,00.5,083.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201553.00,3648.85343,N,12158.52576,W,1,09,1.1,-1.70,M,-32.96,M,,*73 : Estimated North Bias at time = 1839.99 : 28.28 : Estimated East Bias at time = 1839.99 : 8.85 : Estimated Depth Bias at time = 1839.99 : -0.96 : Estimated northing and easting = 4074782.11 : 591393.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201553.81,3648.8534,N,-12158.5257,W,1,03,00.5,085.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201554.00,3648.85339,N,12158.52551,W,1,09,1.1,-2.15,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201554.81,3648.8534,N,-12158.5255,W,1,03,00.5,082.6,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201555.00,3648.85340,N,12158.52564,W,1,09,1.1,-2.56,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201555.81,3648.8534,N,-12158.5257,W,1,03,00.5,082.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201556.00,3648.85349,N,12158.52580,W,1,09,1.1,-2.36,M,-32.96,M,,*74 : TerrainNav update at nav time = 1844.993609 : TerrainNav update at dvl time = 1844.993609 : _navData-> (x,y) = (4074753.68, 591384.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201556.81,3648.8535,N,-12158.5258,W,1,03,00.5,085.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201557.00,3648.85358,N,12158.52570,W,1,09,1.1,-1.69,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201557.81,3648.8536,N,-12158.5257,W,1,03,00.5,084.1,M,-99.9,M,,*4a : Estimated North Bias at time = 1844.99 : 28.26 : Estimated East Bias at time = 1844.99 : 8.86 : Estimated Depth Bias at time = 1844.99 : -0.96 : Estimated northing and easting = 4074781.94 : 591393.67 : AshtechGps::processRecord() - $GPGGA,201558.00,3648.85354,N,12158.52547,W,1,09,1.1,-1.41,M,-32.96,M,,*7E : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201558.81,3648.8536,N,-12158.5254,W,1,03,00.5,083.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201559.00,3648.85357,N,12158.52506,W,1,09,1.1,-1.13,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201559.81,3648.8536,N,-12158.5250,W,1,03,00.5,085.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201600.00,3648.85357,N,12158.52469,W,1,09,1.1,-1.18,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201600.81,3648.8536,N,-12158.5246,W,1,03,00.5,085.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201601.00,3648.85365,N,12158.52432,W,1,09,1.1,-1.80,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1849.993267 : TerrainNav update at dvl time = 1849.993267 : _navData-> (x,y) = (4074754.05, 591387.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201601.81,3648.8537,N,-12158.5243,W,1,03,00.5,083.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201602.00,3648.85364,N,12158.52425,W,1,09,1.1,-2.26,M,-32.96,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201602.81,3648.8537,N,-12158.5242,W,1,03,00.5,082.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201603.00,3648.85377,N,12158.52429,W,1,09,1.1,-2.48,M,-32.96,M,,*71 : Estimated North Bias at time = 1849.99 : 28.24 : Estimated East Bias at time = 1849.99 : 8.86 : Estimated Depth Bias at time = 1849.99 : -0.96 : Estimated northing and easting = 4074782.29 : 591396.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201603.81,3648.8538,N,-12158.5243,W,1,03,00.5,082.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201604.00,3648.85383,N,12158.52433,W,1,09,1.1,-2.44,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201604.81,3648.8539,N,-12158.5243,W,1,03,00.5,085.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201605.00,3648.85380,N,12158.52430,W,1,09,1.1,-2.09,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201605.81,3648.8538,N,-12158.5243,W,1,03,00.5,082.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201606.00,3648.85372,N,12158.52406,W,1,09,1.1,-1.91,M,-32.96,M,,*7B : TerrainNav update at nav time = 1855.002924 : TerrainNav update at dvl time = 1855.002924 : _navData-> (x,y) = (4074754.11, 591387.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201606.81,3648.8537,N,-12158.5240,W,1,03,00.5,085.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201607.00,3648.85365,N,12158.52384,W,1,09,1.1,-2.27,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201607.81,3648.8537,N,-12158.5238,W,1,03,00.5,084.1,M,-99.9,M,,*44 : Estimated North Bias at time = 1855.00 : 28.09 : Estimated East Bias at time = 1855.00 : 9.01 : Estimated Depth Bias at time = 1855.00 : -0.96 : Estimated northing and easting = 4074782.20 : 591396.52 : AshtechGps::processRecord() - $GPGGA,201608.00,3648.85371,N,12158.52381,W,1,09,1.1,-2.60,M,-32.96,M,,*73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201608.81,3648.8537,N,-12158.5238,W,1,03,00.5,083.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201609.00,3648.85372,N,12158.52380,W,1,09,1.1,-2.26,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201609.81,3648.8537,N,-12158.5238,W,1,03,00.5,082.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201610.00,3648.85358,N,12158.52366,W,1,09,1.1,-2.07,M,-32.96,M,,*79 : NMEA Update: $GPGGA,201610.81,3648.8536,N,-12158.5236,W,1,03,00.5,084.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201611.00,3648.85363,N,12158.52338,W,1,09,1.1,-2.05,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1860.002581 : TerrainNav update at dvl time = 1860.002581 : _navData-> (x,y) = (4074753.95, 591388.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201611.81,3648.8536,N,-12158.5233,W,1,03,00.5,083.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201612.00,3648.85353,N,12158.52323,W,1,09,1.1,-1.79,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201612.81,3648.8535,N,-12158.5232,W,1,03,00.5,085.1,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1860.00 : 28.08 : Estimated East Bias at time = 1860.00 : 9.03 : Estimated Depth Bias at time = 1860.00 : -0.96 : Estimated northing and easting = 4074782.03 : 591397.61 : AshtechGps::processRecord() - $GPGGA,201613.00,3648.85370,N,12158.52311,W,1,09,1.1,-1.96,M,-32.96,M,,*7B : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201613.81,3648.8537,N,-12158.5231,W,1,03,00.5,083.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201614.00,3648.85389,N,12158.52296,W,1,09,1.1,-1.73,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201614.81,3648.8539,N,-12158.5229,W,1,03,00.5,085.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201615.00,3648.85386,N,12158.52277,W,1,09,1.1,-2.28,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201615.81,3648.8539,N,-12158.5227,W,1,03,00.5,085.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201616.00,3648.85405,N,12158.52272,W,1,09,1.1,-2.49,M,-32.96,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1865.002239 : TerrainNav update at dvl time = 1865.002239 : _navData-> (x,y) = (4074754.79, 591389.48) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201616.81,3648.8541,N,-12158.5227,W,1,03,00.5,083.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201617.00,3648.85385,N,12158.52285,W,1,09,1.1,-2.00,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201617.81,3648.8538,N,-12158.5228,W,1,03,00.5,086.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201618.00,3648.85386,N,12158.52264,W,1,09,1.1,-1.76,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1865.00 : 28.27 : Estimated East Bias at time = 1865.00 : 9.15 : Estimated Depth Bias at time = 1865.00 : -0.95 : Estimated northing and easting = 4074783.05 : 591398.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201618.81,3648.8538,N,-12158.5226,W,1,03,00.5,086.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201619.00,3648.85381,N,12158.52231,W,1,09,1.1,-1.14,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201619.81,3648.8538,N,-12158.5223,W,1,03,00.5,083.6,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201620.00,3648.85407,N,12158.52169,W,1,09,1.1,-0.82,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201620.81,3648.8541,N,-12158.5216,W,1,03,00.5,087.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201621.00,3648.85425,N,12158.52114,W,1,09,1.1,-1.65,M,-32.96,M,,*76 : TerrainNav update at nav time = 1870.001896 : TerrainNav update at dvl time = 1870.001896 : _navData-> (x,y) = (4074755.27, 591392.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201621.81,3648.8543,N,-12158.5210,W,1,03,00.5,084.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201622.00,3648.85432,N,12158.52109,W,1,09,1.1,-2.45,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201622.81,3648.8544,N,-12158.5210,W,1,03,00.5,083.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201623.00,3648.85436,N,12158.52117,W,1,09,1.1,-2.85,M,-32.96,M,,*78 : Estimated North Bias at time = 1870.00 : 27.58 : Estimated East Bias at time = 1870.00 : 9.70 : Estimated Depth Bias at time = 1870.00 : -0.95 : Estimated northing and easting = 4074782.85 : 591401.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201623.81,3648.8544,N,-12158.5212,W,1,03,00.5,084.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201624.00,3648.85434,N,12158.52127,W,1,09,1.1,-3.07,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201624.81,3648.8544,N,-12158.5213,W,1,03,00.5,081.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201625.00,3648.85425,N,12158.52136,W,1,09,1.1,-2.78,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201625.81,3648.8542,N,-12158.5214,W,1,03,00.5,084.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201626.00,3648.85433,N,12158.52122,W,1,09,1.1,-2.55,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1875.001554 : TerrainNav update at dvl time = 1875.001554 : _navData-> (x,y) = (4074755.28, 591391.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201626.81,3648.8543,N,-12158.5212,W,1,03,00.5,084.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201627.00,3648.85420,N,12158.52114,W,1,09,1.1,-2.11,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201627.81,3648.8542,N,-12158.5211,W,1,03,00.5,082.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1875.00 : 27.06 : Estimated East Bias at time = 1875.00 : 10.10 : Estimated Depth Bias at time = 1875.00 : -0.95 : Estimated northing and easting = 4074782.34 : 591401.82 : AshtechGps::processRecord() - $GPGGA,201628.00,3648.85429,N,12158.52078,W,1,09,1.1,-1.99,M,-32.96,M,,*7B : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201628.81,3648.8543,N,-12158.5207,W,1,03,00.5,085.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201629.00,3648.85406,N,12158.52053,W,1,09,1.1,-1.93,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201629.81,3648.8540,N,-12158.5205,W,1,03,00.5,083.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201630.00,3648.85422,N,12158.52018,W,1,09,1.1,-1.90,M,-32.96,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201630.81,3648.8542,N,-12158.5201,W,1,03,00.5,082.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201631.00,3648.85419,N,12158.51994,W,1,09,1.1,-1.96,M,-32.96,M,,*77 : TerrainNav update at nav time = 1880.001211 : TerrainNav update at dvl time = 1880.001211 : _navData-> (x,y) = (4074755.13, 591393.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201631.81,3648.8542,N,-12158.5199,W,1,03,00.5,084.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201632.00,3648.85429,N,12158.51966,W,1,09,1.1,-2.26,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201632.81,3648.8543,N,-12158.5196,W,1,03,00.5,085.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201633.00,3648.85447,N,12158.51958,W,1,09,1.1,-2.49,M,-32.96,M,,*7F : Estimated North Bias at time = 1880.00 : 25.82 : Estimated East Bias at time = 1880.00 : 11.02 : Estimated Depth Bias at time = 1880.00 : -0.95 : Estimated northing and easting = 4074780.96 : 591404.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201633.81,3648.8545,N,-12158.5196,W,1,03,00.5,082.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201634.00,3648.85456,N,12158.51964,W,1,09,1.1,-2.74,M,-32.96,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201634.81,3648.8546,N,-12158.5197,W,1,03,00.5,083.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201635.00,3648.85478,N,12158.51969,W,1,09,1.1,-2.73,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201635.81,3648.8548,N,-12158.5197,W,1,03,00.5,083.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201636.00,3648.85478,N,12158.51988,W,1,09,1.1,-2.50,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1885.000869 : TerrainNav update at dvl time = 1885.000869 : _navData-> (x,y) = (4074756.21, 591393.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201636.81,3648.8548,N,-12158.5199,W,1,03,00.5,082.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201637.00,3648.85491,N,12158.51978,W,1,09,1.1,-1.87,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201637.81,3648.8549,N,-12158.5198,W,1,03,00.5,083.9,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201638.00,3648.85479,N,12158.51957,W,1,09,1.1,-1.43,M,-32.96,M,,*7F : Estimated North Bias at time = 1885.00 : 25.50 : Estimated East Bias at time = 1885.00 : 11.13 : Estimated Depth Bias at time = 1885.00 : -0.95 : Estimated northing and easting = 4074781.71 : 591404.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201638.80,3648.8548,N,-12158.5195,W,1,03,00.5,087.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201639.00,3648.85480,N,12158.51912,W,1,09,1.1,-1.04,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201639.80,3648.8548,N,-12158.5190,W,1,03,00.5,084.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201640.00,3648.85467,N,12158.51841,W,1,09,1.1,-0.73,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201640.80,3648.8546,N,-12158.5183,W,1,03,00.5,086.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201641.00,3648.85470,N,12158.51747,W,1,09,1.1,-1.35,M,-32.96,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1890.000526 : TerrainNav update at dvl time = 1890.000526 : _navData-> (x,y) = (4074756.08, 591397.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201641.80,3648.8547,N,-12158.5173,W,1,03,00.5,083.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201642.00,3648.85459,N,12158.51714,W,1,09,1.1,-2.46,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201642.80,3648.8546,N,-12158.5170,W,1,03,00.5,082.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201643.00,3648.85475,N,12158.51723,W,1,09,1.1,-3.40,M,-32.96,M,,*73 : Estimated North Bias at time = 1890.00 : 25.58 : Estimated East Bias at time = 1890.00 : 11.10 : Estimated Depth Bias at time = 1890.00 : -0.95 : Estimated northing and easting = 4074781.66 : 591408.64 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201643.80,3648.8547,N,-12158.5173,W,1,03,00.5,083.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201644.00,3648.85470,N,12158.51762,W,1,09,1.1,-3.47,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201644.80,3648.8547,N,-12158.5177,W,1,03,00.5,081.9,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201645.00,3648.85474,N,12158.51791,W,1,09,1.1,-3.31,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201645.80,3648.8547,N,-12158.5180,W,1,03,00.5,080.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201646.00,3648.85480,N,12158.51806,W,1,09,1.1,-2.99,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1895.000184 : TerrainNav update at dvl time = 1895.000184 : _navData-> (x,y) = (4074756.24, 591396.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201646.80,3648.8548,N,-12158.5181,W,1,03,00.5,085.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201647.00,3648.85485,N,12158.51815,W,1,09,1.1,-2.66,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201647.80,3648.8549,N,-12158.5182,W,1,03,00.5,083.3,M,-99.9,M,,*4f : Estimated North Bias at time = 1895.00 : 24.92 : Estimated East Bias at time = 1895.00 : 11.64 : Estimated Depth Bias at time = 1895.00 : -0.95 : Estimated northing and easting = 4074781.16 : 591407.98 : AshtechGps::processRecord() - $GPGGA,201648.00,3648.85498,N,12158.51809,W,1,09,1.1,-2.15,M,-32.96,M,,*7D : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201648.80,3648.8550,N,-12158.5181,W,1,03,00.5,082.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201649.00,3648.85488,N,12158.51790,W,1,09,1.1,-1.39,M,-32.96,M,,*7F : NMEA Update: $GPGGA,201649.80,3648.8549,N,-12158.5179,W,1,03,00.5,083.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201650.00,3648.85496,N,12158.51740,W,1,09,1.1,-1.24,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201650.80,3648.8550,N,-12158.5173,W,1,03,00.5,086.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201651.00,3648.85484,N,12158.51700,W,1,09,1.1,-1.07,M,-32.96,M,,*7E : TerrainNav update at nav time = 1899.999841 : TerrainNav update at dvl time = 1899.999841 : _navData-> (x,y) = (4074756.36, 591398.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201651.80,3648.8549,N,-12158.5169,W,1,03,00.5,083.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201652.00,3648.85509,N,12158.51643,W,1,09,1.1,-1.10,M,-32.96,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201652.80,3648.8551,N,-12158.5163,W,1,03,00.5,083.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201653.00,3648.85497,N,12158.51600,W,1,09,1.1,-1.48,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1900.00 : 24.66 : Estimated East Bias at time = 1900.00 : 11.75 : Estimated Depth Bias at time = 1900.00 : -0.95 : Estimated northing and easting = 4074781.02 : 591409.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201653.80,3648.8550,N,-12158.5159,W,1,03,00.5,084.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201654.00,3648.85494,N,12158.51560,W,1,09,1.1,-1.93,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201654.80,3648.8549,N,-12158.5155,W,1,03,00.5,086.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201655.00,3648.85503,N,12158.51536,W,1,09,1.1,-2.50,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201655.80,3648.8551,N,-12158.5153,W,1,03,00.5,084.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201656.00,3648.85486,N,12158.51556,W,1,09,1.1,-3.22,M,-32.96,M,,*7F : TerrainNav update at nav time = 1904.999499 : TerrainNav update at dvl time = 1904.999499 : _navData-> (x,y) = (4074756.49, 591400.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201656.80,3648.8548,N,-12158.5156,W,1,03,00.5,084.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201657.00,3648.85514,N,12158.51571,W,1,09,1.1,-3.34,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201657.80,3648.8551,N,-12158.5157,W,1,03,00.5,081.4,M,-99.9,M,,*4a : Estimated North Bias at time = 1905.00 : 23.54 : Estimated East Bias at time = 1905.00 : 12.79 : Estimated Depth Bias at time = 1905.00 : -0.95 : Estimated northing and easting = 4074780.03 : 591412.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,201658.00,3648.85505,N,12158.51604,W,1,09,1.1,-3.43,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201658.80,3648.8551,N,-12158.5161,W,1,03,00.5,077.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201659.00,3648.85537,N,12158.51614,W,1,09,1.1,-2.85,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201659.80,3648.8554,N,-12158.5162,W,1,03,00.5,087.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201700.00,3648.85524,N,12158.51602,W,1,09,1.1,-2.10,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201700.80,3648.8552,N,-12158.5160,W,1,03,00.5,080.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201701.00,3648.85516,N,12158.51562,W,1,09,1.1,-1.56,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1909.999156 : TerrainNav update at dvl time = 1909.999156 : _navData-> (x,y) = (4074756.94, 591400.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201701.80,3648.8551,N,-12158.5155,W,1,03,00.5,082.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201702.00,3648.85514,N,12158.51509,W,1,09,1.1,-1.52,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201702.80,3648.8551,N,-12158.5150,W,1,03,00.5,089.0,M,-99.9,M,,*40 : 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,201703.00,3648.85505,N,12158.51472,W,1,09,1.1,-1.90,M,-32.96,M,,*78 : Estimated North Bias at time = 1910.00 : 23.21 : Estimated East Bias at time = 1910.00 : 13.47 : Estimated Depth Bias at time = 1910.00 : -0.95 : Estimated northing and easting = 4074780.15 : 591413.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201703.80,3648.8551,N,-12158.5146,W,1,03,00.5,083.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201704.00,3648.85518,N,12158.51452,W,1,09,1.1,-2.04,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201704.80,3648.8552,N,-12158.5145,W,1,03,00.5,082.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201705.00,3648.85512,N,12158.51440,W,1,09,1.1,-2.24,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201705.80,3648.8551,N,-12158.5144,W,1,03,00.5,082.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201706.00,3648.85520,N,12158.51421,W,1,09,1.1,-2.11,M,-32.96,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1914.998814 : TerrainNav update at dvl time = 1914.998814 : _navData-> (x,y) = (4074757.04, 591402.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201706.80,3648.8552,N,-12158.5142,W,1,03,00.5,084.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201707.00,3648.85526,N,12158.51396,W,1,09,1.1,-2.33,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201707.80,3648.8553,N,-12158.5139,W,1,03,00.5,082.6,M,-99.9,M,,*45 : Estimated North Bias at time = 1915.00 : 22.57 : Estimated East Bias at time = 1915.00 : 13.88 : Estimated Depth Bias at time = 1915.00 : -0.95 : Estimated northing and easting = 4074779.61 : 591416.01 : AshtechGps::processRecord() - $GPGGA,201708.00,3648.85530,N,12158.51393,W,1,09,1.1,-2.63,M,-32.96,M,,*72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201708.80,3648.8553,N,-12158.5139,W,1,03,00.5,083.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201709.00,3648.85542,N,12158.51387,W,1,09,1.1,-2.48,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201709.80,3648.8554,N,-12158.5139,W,1,03,00.5,084.3,M,-99.9,M,,*4f : 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,201710.00,3648.85552,N,12158.51376,W,1,09,1.1,-2.52,M,-32.96,M,,*76 : NMEA Update: $GPGGA,201710.80,3648.8555,N,-12158.5137,W,1,03,00.5,082.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201711.00,3648.85556,N,12158.51367,W,1,09,1.1,-2.25,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1919.998471 : TerrainNav update at dvl time = 1919.998471 : _navData-> (x,y) = (4074757.78, 591402.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201711.80,3648.8556,N,-12158.5137,W,1,03,00.5,083.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201712.00,3648.85561,N,12158.51355,W,1,09,1.1,-2.10,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201712.80,3648.8556,N,-12158.5135,W,1,03,00.5,083.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201713.00,3648.85577,N,12158.51328,W,1,09,1.1,-1.88,M,-32.96,M,,*7D : Estimated North Bias at time = 1920.00 : 22.45 : Estimated East Bias at time = 1920.00 : 13.90 : Estimated Depth Bias at time = 1920.00 : -0.95 : Estimated northing and easting = 4074780.23 : 591416.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201713.80,3648.8558,N,-12158.5132,W,1,03,00.5,085.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201714.00,3648.85578,N,12158.51289,W,1,09,1.1,-1.91,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201714.80,3648.8558,N,-12158.5128,W,1,03,00.5,083.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201715.00,3648.85584,N,12158.51250,W,1,09,1.1,-2.13,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201715.80,3648.8558,N,-12158.5124,W,1,03,00.5,083.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201716.00,3648.85589,N,12158.51221,W,1,09,1.1,-2.11,M,-32.96,M,,*72 : TerrainNav update at nav time = 1924.998129 : TerrainNav update at dvl time = 1924.998129 : _navData-> (x,y) = (4074758.36, 591405.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201716.80,3648.8559,N,-12158.5121,W,1,03,00.5,081.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201717.00,3648.85581,N,12158.51212,W,1,09,1.1,-2.63,M,-32.96,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201717.80,3648.8558,N,-12158.5121,W,1,03,00.5,083.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201718.00,3648.85607,N,12158.51197,W,1,09,1.1,-2.69,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1925.00 : 22.39 : Estimated East Bias at time = 1925.00 : 13.85 : Estimated Depth Bias at time = 1925.00 : -0.95 : Estimated northing and easting = 4074780.75 : 591418.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201718.80,3648.8561,N,-12158.5120,W,1,03,00.5,086.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201719.00,3648.85608,N,12158.51207,W,1,09,1.1,-2.75,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201719.80,3648.8561,N,-12158.5121,W,1,03,00.5,079.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201720.00,3648.85620,N,12158.51202,W,1,09,1.1,-2.52,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201720.80,3648.8562,N,-12158.5120,W,1,03,00.5,082.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201721.00,3648.85618,N,12158.51207,W,1,09,1.1,-2.11,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1929.997786 : TerrainNav update at dvl time = 1929.997786 : _navData-> (x,y) = (4074758.89, 591405.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201721.80,3648.8562,N,-12158.5121,W,1,03,00.5,086.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201722.00,3648.85618,N,12158.51181,W,1,09,1.1,-1.43,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201722.80,3648.8562,N,-12158.5118,W,1,03,00.5,082.6,M,-99.9,M,,*43 : Estimated North Bias at time = 1930.00 : 20.11 : Estimated East Bias at time = 1930.00 : 15.52 : Estimated Depth Bias at time = 1930.00 : -0.95 : Estimated northing and easting = 4074779.00 : 591420.75 : AshtechGps::processRecord() - $GPGGA,201723.00,3648.85624,N,12158.51133,W,1,09,1.1,-1.39,M,-32.96,M,,*79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201723.80,3648.8562,N,-12158.5113,W,1,03,00.5,086.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201724.00,3648.85611,N,12158.51117,W,1,09,1.1,-1.62,M,-32.96,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201724.80,3648.8561,N,-12158.5111,W,1,03,00.5,081.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201725.00,3648.85617,N,12158.51072,W,1,09,1.1,-1.86,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201725.80,3648.8561,N,-12158.5107,W,1,03,00.5,079.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201726.00,3648.85619,N,12158.51066,W,1,09,1.1,-2.19,M,-32.96,M,,*72 : TerrainNav update at nav time = 1934.997444 : TerrainNav update at dvl time = 1934.997444 : _navData-> (x,y) = (4074758.99, 591407.46) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201726.80,3648.8562,N,-12158.5106,W,1,03,00.5,090.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201727.00,3648.85628,N,12158.51049,W,1,09,1.1,-2.43,M,-32.96,M,,*73 : NMEA Update: $GPGGA,201727.80,3648.8563,N,-12158.5105,W,1,03,00.5,080.9,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1935.00 : 16.54 : Estimated East Bias at time = 1935.00 : 18.09 : Estimated Depth Bias at time = 1935.00 : -0.95 : AshtechGps::processRecord() - $GPGGA,201728.00,3648.85623,N,12158.51068,W,1,09,1.1,-2.84,M,-32.96,M,,*7F : Estimated northing and easting = 4074775.52 : 591425.55 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201728.80,3648.8562,N,-12158.5107,W,1,03,00.5,081.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201729.00,3648.85631,N,12158.51096,W,1,09,1.1,-2.51,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201729.80,3648.8563,N,-12158.5110,W,1,03,00.5,081.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201730.00,3648.85640,N,12158.51080,W,1,09,1.1,-1.69,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201730.80,3648.8564,N,-12158.5108,W,1,03,00.5,087.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201731.00,3648.85639,N,12158.51043,W,1,09,1.1,-1.44,M,-32.96,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1939.997101 : TerrainNav update at dvl time = 1939.997101 : _navData-> (x,y) = (4074759.31, 591407.82) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201731.80,3648.8564,N,-12158.5103,W,1,03,00.5,083.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201732.00,3648.85644,N,12158.51007,W,1,09,1.1,-1.49,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201732.80,3648.8564,N,-12158.5100,W,1,03,00.5,085.0,M,-99.9,M,,*4c : Estimated North Bias at time = 1940.00 : 14.90 : Estimated East Bias at time = 1940.00 : 19.27 : Estimated Depth Bias at time = 1940.00 : -0.96 : Estimated northing and easting = 4074774.22 : 591427.09 : AshtechGps::processRecord() - $GPGGA,201733.00,3648.85637,N,12158.50976,W,1,09,1.1,-1.14,M,-32.96,M,,*7D : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201733.80,3648.8564,N,-12158.5097,W,1,03,00.5,084.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201734.00,3648.85633,N,12158.50928,W,1,09,1.1,-1.59,M,-32.96,M,,*7C : NMEA Update: $GPGGA,201734.80,3648.8563,N,-12158.5092,W,1,03,00.5,082.6,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201735.00,3648.85623,N,12158.50897,W,1,09,1.1,-2.21,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201735.80,3648.8562,N,-12158.5089,W,1,03,00.5,082.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201736.00,3648.85610,N,12158.50916,W,1,09,1.1,-3.00,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1944.996759 : TerrainNav update at dvl time = 1944.996759 : _navData-> (x,y) = (4074758.77, 591409.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201736.80,3648.8561,N,-12158.5092,W,1,03,00.5,082.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201737.00,3648.85616,N,12158.50908,W,1,09,1.1,-3.22,M,-32.96,M,,*74 : NMEA Update: $GPGGA,201737.80,3648.8561,N,-12158.5091,W,1,03,00.5,079.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1945.00 : 13.91 : Estimated East Bias at time = 1945.00 : 20.14 : Estimated Depth Bias at time = 1945.00 : -0.96 : Estimated northing and easting = 4074772.68 : 591429.73 : AshtechGps::processRecord() - $GPGGA,201738.00,3648.85620,N,12158.50924,W,1,09,1.1,-3.14,M,-32.96,M,,*75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201738.80,3648.8562,N,-12158.5092,W,1,03,00.5,083.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201739.00,3648.85628,N,12158.50930,W,1,09,1.1,-3.25,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201739.80,3648.8563,N,-12158.5093,W,1,03,00.5,082.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201740.00,3648.85624,N,12158.50950,W,1,09,1.1,-3.08,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201740.80,3648.8562,N,-12158.5095,W,1,03,00.5,082.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201741.00,3648.85625,N,12158.50952,W,1,09,1.1,-2.49,M,-32.96,M,,*76 : TerrainNav update at nav time = 1949.996416 : TerrainNav update at dvl time = 1949.996416 : _navData-> (x,y) = (4074759.07, 591409.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201741.80,3648.8563,N,-12158.5095,W,1,03,00.5,081.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201742.00,3648.85636,N,12158.50922,W,1,09,1.1,-1.91,M,-32.96,M,,*76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201742.80,3648.8564,N,-12158.5092,W,1,03,00.5,084.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201743.00,3648.85632,N,12158.50907,W,1,09,1.1,-1.46,M,-32.96,M,,*7E : Estimated North Bias at time = 1950.00 : 13.32 : Estimated East Bias at time = 1950.00 : 20.86 : Estimated Depth Bias at time = 1950.00 : -0.96 : Estimated northing and easting = 4074772.39 : 591429.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201743.80,3648.8563,N,-12158.5090,W,1,03,00.5,084.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201744.00,3648.85634,N,12158.50863,W,1,09,1.1,-1.30,M,-32.96,M,,*7D : NMEA Update: $GPGGA,201744.80,3648.8563,N,-12158.5085,W,1,03,00.5,086.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201745.00,3648.85631,N,12158.50830,W,1,09,1.1,-1.55,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201745.80,3648.8563,N,-12158.5082,W,1,03,00.5,084.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201746.00,3648.85634,N,12158.50795,W,1,09,1.1,-1.86,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1954.996074 : TerrainNav update at dvl time = 1954.996074 : _navData-> (x,y) = (4074759.24, 591411.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201746.80,3648.8563,N,-12158.5079,W,1,03,00.5,083.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201747.00,3648.85636,N,12158.50781,W,1,09,1.1,-2.18,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201747.80,3648.8564,N,-12158.5078,W,1,03,00.5,082.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201748.00,3648.85640,N,12158.50778,W,1,09,1.1,-2.40,M,-32.96,M,,*73 : Estimated North Bias at time = 1955.00 : 13.79 : Estimated East Bias at time = 1955.00 : 20.55 : Estimated Depth Bias at time = 1955.00 : -0.96 : Estimated northing and easting = 4074773.03 : 591432.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201748.80,3648.8564,N,-12158.5078,W,1,03,00.5,082.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201749.00,3648.85645,N,12158.50778,W,1,09,1.1,-2.72,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201749.80,3648.8564,N,-12158.5078,W,1,03,00.5,082.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201750.00,3648.85646,N,12158.50773,W,1,09,1.1,-3.06,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201750.80,3648.8565,N,-12158.5077,W,1,03,00.5,082.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201751.00,3648.85640,N,12158.50814,W,1,09,1.1,-3.26,M,-32.96,M,,*7F : TerrainNav update at nav time = 1959.995731 : TerrainNav update at dvl time = 1959.995731 : _navData-> (x,y) = (4074759.37, 591411.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201751.80,3648.8564,N,-12158.5082,W,1,03,00.5,081.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201752.00,3648.85647,N,12158.50827,W,1,09,1.1,-2.87,M,-32.96,M,,*71 : NMEA Update: $GPGGA,201752.80,3648.8565,N,-12158.5083,W,1,03,00.5,080.0,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201753.00,3648.85642,N,12158.50827,W,1,09,1.1,-2.35,M,-32.96,M,,*7C : Estimated North Bias at time = 1960.00 : 13.51 : Estimated East Bias at time = 1960.00 : 20.78 : Estimated Depth Bias at time = 1960.00 : -0.96 : Estimated northing and easting = 4074772.88 : 591431.82 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201753.80,3648.8564,N,-12158.5082,W,1,03,00.5,081.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201754.00,3648.85624,N,12158.50828,W,1,09,1.1,-2.07,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201754.80,3648.8562,N,-12158.5083,W,1,03,00.5,081.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201755.00,3648.85626,N,12158.50796,W,1,09,1.1,-1.50,M,-32.96,M,,*7D : NMEA Update: $GPGGA,201755.80,3648.8562,N,-12158.5079,W,1,03,00.5,086.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201756.00,3648.85617,N,12158.50763,W,1,09,1.1,-1.16,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1964.995389 : TerrainNav update at dvl time = 1964.995389 : _navData-> (x,y) = (4074758.91, 591411.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201756.80,3648.8562,N,-12158.5076,W,1,03,00.5,083.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201757.00,3648.85619,N,12158.50705,W,1,09,1.1,-1.21,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201757.80,3648.8562,N,-12158.5069,W,1,03,00.5,084.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201758.00,3648.85620,N,12158.50684,W,1,09,1.1,-1.87,M,-32.96,M,,*7E : Estimated North Bias at time = 1965.00 : 13.48 : Estimated East Bias at time = 1965.00 : 20.84 : Estimated Depth Bias at time = 1965.00 : -0.96 : Estimated northing and easting = 4074772.39 : 591432.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201758.80,3648.8562,N,-12158.5067,W,1,03,00.5,082.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201759.00,3648.85641,N,12158.50677,W,1,09,1.1,-2.23,M,-32.96,M,,*79 : NMEA Update: $GPGGA,201759.80,3648.8564,N,-12158.5068,W,1,03,00.5,082.6,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201800.00,3648.85652,N,12158.50673,W,1,09,1.1,-2.33,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201800.80,3648.8565,N,-12158.5067,W,1,03,00.5,085.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201801.00,3648.85656,N,12158.50674,W,1,09,1.1,-2.82,M,-32.96,M,,*75 : TerrainNav update at nav time = 1969.995046 : TerrainNav update at dvl time = 1969.995046 : _navData-> (x,y) = (4074759.73, 591413.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201801.80,3648.8566,N,-12158.5067,W,1,03,00.5,081.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201802.00,3648.85651,N,12158.50685,W,1,09,1.1,-3.20,M,-32.96,M,,*76 : NMEA Update: $GPGGA,201802.80,3648.8565,N,-12158.5069,W,1,03,00.5,083.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201803.00,3648.85644,N,12158.50717,W,1,09,1.1,-2.87,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1970.00 : 13.48 : Estimated East Bias at time = 1970.00 : 20.90 : Estimated Depth Bias at time = 1970.00 : -0.96 : Estimated northing and easting = 4074773.21 : 591434.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201803.80,3648.8564,N,-12158.5072,W,1,03,00.5,082.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201804.00,3648.85653,N,12158.50709,W,1,09,1.1,-1.95,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201804.80,3648.8566,N,-12158.5071,W,1,03,00.5,083.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201805.00,3648.85647,N,12158.50681,W,1,09,1.1,-1.73,M,-32.96,M,,*76 : NMEA Update: $GPGGA,201805.80,3648.8565,N,-12158.5067,W,1,03,00.5,086.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201806.00,3648.85651,N,12158.50643,W,1,09,1.1,-1.32,M,-32.96,M,,*79 : TerrainNav update at nav time = 1974.994704 : TerrainNav update at dvl time = 1974.994704 : _navData-> (x,y) = (4074759.62, 591413.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201806.80,3648.8565,N,-12158.5064,W,1,03,00.5,082.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201807.00,3648.85647,N,12158.50586,W,1,09,1.1,-1.51,M,-32.96,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201807.80,3648.8565,N,-12158.5058,W,1,03,00.5,084.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201808.00,3648.85631,N,12158.50560,W,1,09,1.1,-1.51,M,-32.96,M,,*76 : Estimated North Bias at time = 1974.99 : 13.59 : Estimated East Bias at time = 1974.99 : 20.84 : Estimated Depth Bias at time = 1974.99 : -0.96 : Estimated northing and easting = 4074773.21 : 591434.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201808.81,3648.8563,N,-12158.5055,W,1,03,00.5,083.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201809.00,3648.85647,N,12158.50504,W,1,09,1.1,-2.04,M,-32.96,M,,*77 : NMEA Update: $GPGGA,201809.81,3648.8565,N,-12158.5049,W,1,03,00.5,085.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201810.00,3648.85645,N,12158.50491,W,1,09,1.1,-2.94,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201810.81,3648.8564,N,-12158.5049,W,1,03,00.5,082.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201811.00,3648.85645,N,12158.50522,W,1,09,1.1,-3.87,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1979.994361 : TerrainNav update at dvl time = 1979.994361 : _navData-> (x,y) = (4074759.49, 591415.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201811.81,3648.8564,N,-12158.5053,W,1,03,00.5,081.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201812.00,3648.85633,N,12158.50578,W,1,09,1.1,-3.82,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201812.81,3648.8563,N,-12158.5059,W,1,03,00.5,081.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201813.00,3648.85634,N,12158.50597,W,1,09,1.1,-3.28,M,-32.96,M,,*7D : Estimated North Bias at time = 1979.99 : 11.81 : Estimated East Bias at time = 1979.99 : 21.98 : Estimated Depth Bias at time = 1979.99 : -0.97 : Estimated northing and easting = 4074771.30 : 591437.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201813.81,3648.8564,N,-12158.5060,W,1,03,00.5,083.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201814.00,3648.85634,N,12158.50589,W,1,09,1.1,-2.29,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201814.81,3648.8564,N,-12158.5059,W,1,03,00.5,086.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201815.00,3648.85638,N,12158.50561,W,1,09,1.1,-2.50,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201815.81,3648.8564,N,-12158.5055,W,1,03,00.5,082.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201816.00,3648.85640,N,12158.50560,W,1,09,1.1,-1.84,M,-32.96,M,,*77 : TerrainNav update at nav time = 1984.994019 : TerrainNav update at dvl time = 1984.994019 : _navData-> (x,y) = (4074759.41, 591414.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201816.81,3648.8564,N,-12158.5056,W,1,03,00.5,082.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201817.00,3648.85640,N,12158.50514,W,1,09,1.1,-1.57,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201817.81,3648.8564,N,-12158.5051,W,1,03,00.5,083.7,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201818.00,3648.85641,N,12158.50468,W,1,09,1.1,-1.77,M,-32.96,M,,*7D : Estimated North Bias at time = 1984.99 : 11.55 : Estimated East Bias at time = 1984.99 : 22.17 : Estimated Depth Bias at time = 1984.99 : -0.97 : Estimated northing and easting = 4074770.95 : 591437.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201818.81,3648.8565,N,-12158.5046,W,1,03,00.5,081.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201819.00,3648.85646,N,12158.50428,W,1,09,1.1,-0.95,M,-32.96,M,,*72 : NMEA Update: $GPGGA,201819.81,3648.8565,N,-12158.5042,W,1,03,00.5,086.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201820.00,3648.85645,N,12158.50368,W,1,09,1.1,-1.48,M,-32.96,M,,*79 : NMEA Update: $GPGGA,201820.81,3648.8564,N,-12158.5035,W,1,03,00.5,083.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201821.00,3648.85633,N,12158.50356,W,1,09,1.1,-2.22,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1989.993676 : TerrainNav update at dvl time = 1989.993676 : _navData-> (x,y) = (4074759.37, 591417.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201821.81,3648.8564,N,-12158.5035,W,1,03,00.5,081.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201822.00,3648.85635,N,12158.50352,W,1,09,1.1,-2.50,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201822.81,3648.8563,N,-12158.5035,W,1,03,00.5,084.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201823.00,3648.85636,N,12158.50358,W,1,09,1.1,-2.79,M,-32.96,M,,*7C : Estimated North Bias at time = 1989.99 : 11.44 : Estimated East Bias at time = 1989.99 : 22.17 : Estimated Depth Bias at time = 1989.99 : -0.97 : Estimated northing and easting = 4074770.81 : 591440.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201823.81,3648.8563,N,-12158.5036,W,1,03,00.5,083.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201824.00,3648.85639,N,12158.50363,W,1,09,1.1,-2.58,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201824.81,3648.8564,N,-12158.5036,W,1,03,00.5,083.3,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201825.00,3648.85647,N,12158.50358,W,1,09,1.1,-2.99,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201825.81,3648.8565,N,-12158.5036,W,1,03,00.5,082.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201826.00,3648.85648,N,12158.50392,W,1,09,1.1,-2.90,M,-32.96,M,,*71 : TerrainNav update at nav time = 1994.993334 : TerrainNav update at dvl time = 1994.993334 : _navData-> (x,y) = (4074759.58, 591417.26) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201826.81,3648.8565,N,-12158.5040,W,1,03,00.5,082.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201827.00,3648.85654,N,12158.50405,W,1,09,1.1,-2.77,M,-32.96,M,,*7D : NMEA Update: $GPGGA,201827.81,3648.8565,N,-12158.5041,W,1,03,00.5,079.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201828.00,3648.85639,N,12158.50392,W,1,09,1.1,-2.02,M,-32.96,M,,*72 : Estimated North Bias at time = 1994.99 : 10.83 : Estimated East Bias at time = 1994.99 : 22.60 : Estimated Depth Bias at time = 1994.99 : -0.97 : Estimated northing and easting = 4074770.41 : 591439.85 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201828.81,3648.8564,N,-12158.5039,W,1,03,00.5,085.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201829.00,3648.85624,N,12158.50361,W,1,09,1.1,-1.32,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201829.81,3648.8562,N,-12158.5035,W,1,03,00.5,083.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201830.00,3648.85618,N,12158.50312,W,1,09,1.1,-0.60,M,-32.96,M,,*76 : NMEA Update: $GPGGA,201830.81,3648.8562,N,-12158.5030,W,1,03,00.5,084.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201831.00,3648.85616,N,12158.50240,W,1,09,1.1,-1.17,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1999.992991 : TerrainNav update at dvl time = 1999.992991 : _navData-> (x,y) = (4074759.04, 591419.82) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201831.81,3648.8562,N,-12158.5023,W,1,03,00.5,083.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201832.00,3648.85604,N,12158.50207,W,1,09,1.1,-1.76,M,-32.96,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201832.81,3648.8560,N,-12158.5020,W,1,03,00.5,083.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201833.00,3648.85614,N,12158.50182,W,1,09,1.1,-2.47,M,-32.96,M,,*75 : Estimated North Bias at time = 1999.99 : 11.60 : Estimated East Bias at time = 1999.99 : 22.10 : Estimated Depth Bias at time = 1999.99 : -0.97 : Estimated northing and easting = 4074770.64 : 591441.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201833.81,3648.8561,N,-12158.5018,W,1,03,00.5,082.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201834.00,3648.85622,N,12158.50178,W,1,09,1.1,-2.84,M,-32.96,M,,*7D : NMEA Update: $GPGGA,201834.81,3648.8563,N,-12158.5018,W,1,03,00.5,081.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201835.00,3648.85630,N,12158.50179,W,1,09,1.1,-3.11,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201835.81,3648.8563,N,-12158.5018,W,1,03,00.5,082.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201836.00,3648.85630,N,12158.50207,W,1,09,1.1,-3.28,M,-32.96,M,,*70 : TerrainNav update at nav time = 2005.002648 : TerrainNav update at dvl time = 2005.002648 : _navData-> (x,y) = (4074759.28, 591420.05) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201836.81,3648.8563,N,-12158.5021,W,1,03,00.5,082.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201837.00,3648.85644,N,12158.50232,W,1,09,1.1,-2.93,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201837.81,3648.8565,N,-12158.5024,W,1,03,00.5,081.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201838.00,3648.85644,N,12158.50226,W,1,09,1.1,-2.84,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2005.00 : 11.73 : Estimated East Bias at time = 2005.00 : 22.03 : Estimated Depth Bias at time = 2005.00 : -0.97 : Estimated northing and easting = 4074771.01 : 591442.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201838.81,3648.8565,N,-12158.5023,W,1,03,00.5,082.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201839.00,3648.85643,N,12158.50209,W,1,09,1.1,-2.26,M,-32.96,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201839.81,3648.8564,N,-12158.5020,W,1,03,00.5,082.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201840.00,3648.85645,N,12158.50182,W,1,09,1.1,-1.19,M,-32.96,M,,*7D : NMEA Update: $GPGGA,201840.81,3648.8564,N,-12158.5017,W,1,03,00.5,083.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201841.00,3648.85652,N,12158.50126,W,1,09,1.1,-1.20,M,-32.96,M,,*7E : TerrainNav update at nav time = 2010.002306 : TerrainNav update at dvl time = 2010.002306 : _navData-> (x,y) = (4074759.69, 591421.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201841.81,3648.8565,N,-12158.5012,W,1,03,00.5,083.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201842.00,3648.85652,N,12158.50105,W,1,09,1.1,-1.70,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201842.81,3648.8566,N,-12158.5010,W,1,03,00.5,083.4,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201843.00,3648.85649,N,12158.50101,W,1,09,1.1,-2.33,M,-32.96,M,,*72 : Estimated North Bias at time = 2010.00 : 11.10 : Estimated East Bias at time = 2010.00 : 22.38 : Estimated Depth Bias at time = 2010.00 : -0.97 : Estimated northing and easting = 4074770.79 : 591443.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201843.81,3648.8565,N,-12158.5010,W,1,03,00.5,083.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201844.00,3648.85646,N,12158.50074,W,1,09,1.1,-2.61,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201844.81,3648.8565,N,-12158.5007,W,1,03,00.5,083.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201845.00,3648.85638,N,12158.50055,W,1,09,1.1,-3.17,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201845.81,3648.8564,N,-12158.5005,W,1,03,00.5,082.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201846.00,3648.85645,N,12158.50035,W,1,09,1.1,-3.30,M,-32.96,M,,*7F : 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 = 2015.001963 : TerrainNav update at dvl time = 2015.001963 : _navData-> (x,y) = (4074759.59, 591422.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201846.81,3648.8565,N,-12158.5003,W,1,03,00.5,082.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201847.00,3648.85710,N,12158.49992,W,1,07,1.4,-2.37,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201847.81,3648.8571,N,-12158.4999,W,1,03,00.5,083.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201848.00,3648.85661,N,12158.50002,W,1,09,1.1,-3.45,M,-32.96,M,,*71 : Estimated North Bias at time = 2015.00 : 11.24 : Estimated East Bias at time = 2015.00 : 22.35 : Estimated Depth Bias at time = 2015.00 : -0.97 : Estimated northing and easting = 4074770.84 : 591445.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201848.81,3648.8566,N,-12158.5000,W,1,03,00.5,082.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201849.00,3648.85681,N,12158.50006,W,1,09,1.1,-3.08,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201849.81,3648.8569,N,-12158.5001,W,1,03,00.5,081.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201850.00,3648.85720,N,12158.49991,W,1,09,1.1,-3.23,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201850.81,3648.8572,N,-12158.4999,W,1,03,00.5,082.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201851.00,3648.85714,N,12158.50035,W,1,09,1.1,-3.54,M,-32.96,M,,*7E : TerrainNav update at nav time = 2020.001621 : TerrainNav update at dvl time = 2020.001621 : _navData-> (x,y) = (4074760.81, 591422.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201851.81,3648.8571,N,-12158.5004,W,1,03,00.5,082.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201852.00,3648.85683,N,12158.50028,W,1,09,1.1,-3.12,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201852.81,3648.8568,N,-12158.5003,W,1,03,00.5,082.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201853.00,3648.85716,N,12158.50019,W,1,09,1.1,-1.33,M,-32.96,M,,*73 : Estimated North Bias at time = 2020.00 : 9.94 : Estimated East Bias at time = 2020.00 : 23.18 : Estimated Depth Bias at time = 2020.00 : -0.98 : Estimated northing and easting = 4074770.75 : 591445.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201853.81,3648.8572,N,-12158.5002,W,1,03,00.5,082.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201854.00,3648.85699,N,12158.49993,W,1,09,1.1,-0.97,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201854.81,3648.8570,N,-12158.4999,W,1,03,00.5,084.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201855.00,3648.85689,N,12158.49922,W,1,09,1.1,-1.32,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201855.81,3648.8569,N,-12158.4991,W,1,03,00.5,083.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201856.00,3648.85742,N,12158.49832,W,1,09,1.1,-0.69,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2025.001278 : TerrainNav update at dvl time = 2025.001278 : _navData-> (x,y) = (4074761.43, 591425.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201856.81,3648.8574,N,-12158.4982,W,1,03,00.5,083.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201857.00,3648.85747,N,12158.49774,W,1,09,1.1,-0.29,M,-32.96,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201857.81,3648.8575,N,-12158.4976,W,1,03,00.5,084.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201858.00,3648.85761,N,12158.49725,W,1,09,1.1,-1.01,M,-32.96,M,,*79 : Estimated North Bias at time = 2025.00 : 9.37 : Estimated East Bias at time = 2025.00 : 23.49 : Estimated Depth Bias at time = 2025.00 : -0.98 : Estimated northing and easting = 4074770.80 : 591449.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201858.81,3648.8576,N,-12158.4971,W,1,03,00.5,084.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201859.00,3648.85744,N,12158.49744,W,1,09,1.1,-2.55,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201859.81,3648.8575,N,-12158.4974,W,1,03,00.5,082.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,201900.00,3648.85746,N,12158.49761,W,1,09,1.1,-2.99,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201900.81,3648.8575,N,-12158.4977,W,1,03,00.5,082.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201901.00,3648.85780,N,12158.49773,W,1,07,1.2,-3.02,M,-32.96,M,,*74 : TerrainNav update at nav time = 2030.000935 : TerrainNav update at dvl time = 2030.000935 : _navData-> (x,y) = (4074762.07, 591426.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201901.81,3648.8578,N,-12158.4978,W,1,03,00.5,081.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201902.00,3648.85749,N,12158.49824,W,1,07,1.2,-3.43,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201902.81,3648.8575,N,-12158.4983,W,1,03,00.5,080.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201903.00,3648.85729,N,12158.49842,W,1,09,1.1,-3.54,M,-32.96,M,,*76 : Estimated North Bias at time = 2030.00 : 9.45 : Estimated East Bias at time = 2030.00 : 23.39 : Estimated Depth Bias at time = 2030.00 : -0.98 : Estimated northing and easting = 4074771.52 : 591449.90 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201903.81,3648.8573,N,-12158.4985,W,1,03,00.5,083.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,201904.00,3648.85743,N,12158.49846,W,1,09,1.1,-2.50,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201904.80,3648.8574,N,-12158.4985,W,1,03,00.5,082.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,201905.00,3648.85745,N,12158.49826,W,1,09,1.1,-1.24,M,-32.96,M,,*7D : NMEA Update: $GPGGA,201905.80,3648.8575,N,-12158.4982,W,1,03,00.5,087.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201906.00,3648.85787,N,12158.49754,W,1,09,1.1,0.07,M,-32.96,M,,*57 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2035.000593 : TerrainNav update at dvl time = 2035.000593 : _navData-> (x,y) = (4074762.26, 591426.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201906.80,3648.8579,N,-12158.4974,W,1,03,00.5,083.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201907.00,3648.85738,N,12158.49698,W,1,09,1.1,-1.06,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201907.80,3648.8574,N,-12158.4968,W,1,03,00.5,083.7,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 2035.00 : 9.32 : Estimated East Bias at time = 2035.00 : 23.41 : Estimated Depth Bias at time = 2035.00 : -0.98 : Estimated northing and easting = 4074771.57 : 591450.30 : AshtechGps::processRecord() - $GPGGA,201908.00,3648.85726,N,12158.49630,W,1,09,1.1,-0.75,M,-32.96,M,,*79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201908.80,3648.8572,N,-12158.4962,W,1,03,00.5,082.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201909.00,3648.85767,N,12158.49594,W,1,10,1.0,-1.04,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201909.80,3648.8577,N,-12158.4959,W,1,03,00.5,083.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201910.00,3648.85754,N,12158.49580,W,1,10,1.0,-1.03,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201910.80,3648.8576,N,-12158.4958,W,1,03,00.5,081.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201911.00,3648.85715,N,12158.49584,W,1,09,1.1,-2.48,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2040.000250 : TerrainNav update at dvl time = 2040.000250 : _navData-> (x,y) = (4074760.95, 591429.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201911.80,3648.8571,N,-12158.4958,W,1,03,00.5,082.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201912.00,3648.85733,N,12158.49605,W,1,09,1.1,-2.44,M,-32.96,M,,*70 : NMEA Update: $GPGGA,201912.80,3648.8574,N,-12158.4961,W,1,03,00.5,081.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201913.00,3648.85729,N,12158.49649,W,1,09,1.1,-2.85,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2040.00 : 9.23 : Estimated East Bias at time = 2040.00 : 23.44 : Estimated Depth Bias at time = 2040.00 : -0.98 : Estimated northing and easting = 4074770.18 : 591452.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201913.80,3648.8573,N,-12158.4966,W,1,03,00.5,081.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201914.00,3648.85726,N,12158.49662,W,1,09,1.1,-2.18,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201914.80,3648.8573,N,-12158.4966,W,1,03,00.5,082.0,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201915.00,3648.85753,N,12158.49625,W,1,09,1.1,-1.80,M,-32.96,M,,*78 : NMEA Update: $GPGGA,201915.80,3648.8575,N,-12158.4962,W,1,03,00.5,082.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201916.00,3648.85746,N,12158.49603,W,1,09,1.1,-2.38,M,-32.96,M,,*7B : TerrainNav update at nav time = 2044.999908 : TerrainNav update at dvl time = 2044.999908 : _navData-> (x,y) = (4074761.57, 591429.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201916.80,3648.8575,N,-12158.4959,W,1,03,00.5,083.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201917.00,3648.85745,N,12158.49579,W,1,09,1.1,-2.43,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201917.80,3648.8574,N,-12158.4958,W,1,03,00.5,081.9,M,-99.9,M,,*4d : Estimated North Bias at time = 2045.00 : 8.64 : Estimated East Bias at time = 2045.00 : 23.62 : Estimated Depth Bias at time = 2045.00 : -0.99 : Estimated northing and easting = 4074770.22 : 591452.77 : AshtechGps::processRecord() - $GPGGA,201918.00,3648.85752,N,12158.49539,W,1,09,1.1,-1.55,M,-32.96,M,,*72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201918.80,3648.8575,N,-12158.4954,W,1,03,00.5,084.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201919.00,3648.85737,N,12158.49538,W,1,09,1.1,-1.92,M,-32.96,M,,*7A : NMEA Update: $GPGGA,201919.80,3648.8574,N,-12158.4953,W,1,03,00.5,082.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201920.00,3648.85744,N,12158.49517,W,1,09,1.1,-1.85,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201920.80,3648.8574,N,-12158.4952,W,1,03,00.5,081.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201921.00,3648.85728,N,12158.49499,W,1,09,1.1,-1.43,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2049.999565 : TerrainNav update at dvl time = 2049.999565 : _navData-> (x,y) = (4074761.16, 591430.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201921.80,3648.8573,N,-12158.4950,W,1,03,00.5,082.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201922.00,3648.85742,N,12158.49451,W,1,09,1.1,-1.19,M,-32.96,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201922.80,3648.8574,N,-12158.4944,W,1,03,00.5,085.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201923.00,3648.85728,N,12158.49436,W,1,09,1.1,-1.67,M,-32.96,M,,*78 : Estimated North Bias at time = 2050.00 : 8.11 : Estimated East Bias at time = 2050.00 : 23.93 : Estimated Depth Bias at time = 2050.00 : -0.99 : Estimated northing and easting = 4074769.27 : 591454.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201923.80,3648.8573,N,-12158.4943,W,1,03,00.5,080.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201924.00,3648.85738,N,12158.49427,W,1,09,1.1,-2.30,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201924.80,3648.8574,N,-12158.4943,W,1,03,00.5,081.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201925.00,3648.85755,N,12158.49423,W,1,09,1.1,-1.96,M,-32.96,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201925.80,3648.8576,N,-12158.4942,W,1,03,00.5,086.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201926.00,3648.85764,N,12158.49412,W,1,09,1.1,-2.13,M,-32.96,M,,*73 : TerrainNav update at nav time = 2054.999223 : TerrainNav update at dvl time = 2054.999223 : _navData-> (x,y) = (4074761.95, 591431.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201926.80,3648.8576,N,-12158.4941,W,1,03,00.5,082.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201927.00,3648.85761,N,12158.49403,W,1,09,1.1,-2.16,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201927.80,3648.8576,N,-12158.4940,W,1,03,00.5,085.3,M,-99.9,M,,*4b : Estimated North Bias at time = 2055.00 : 6.53 : Estimated East Bias at time = 2055.00 : 25.10 : Estimated Depth Bias at time = 2055.00 : -1.00 : Estimated northing and easting = 4074768.48 : 591457.02 : AshtechGps::processRecord() - $GPGGA,201928.00,3648.85765,N,12158.49406,W,1,09,1.1,-2.09,M,-32.96,M,,*72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201928.80,3648.8577,N,-12158.4941,W,1,03,00.5,082.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201929.00,3648.85772,N,12158.49389,W,1,09,1.1,-1.87,M,-32.96,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201929.80,3648.8577,N,-12158.4939,W,1,03,00.5,081.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201930.00,3648.85761,N,12158.49376,W,1,09,1.1,-2.19,M,-32.96,M,,*7E : NMEA Update: $GPGGA,201930.80,3648.8576,N,-12158.4938,W,1,03,00.5,082.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201931.00,3648.85752,N,12158.49315,W,1,09,1.1,-2.75,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2059.998880 : TerrainNav update at dvl time = 2059.998880 : _navData-> (x,y) = (4074761.65, 591433.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201931.80,3648.8575,N,-12158.4930,W,1,03,00.5,085.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201932.00,3648.85746,N,12158.49280,W,1,09,1.1,-2.91,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201932.80,3648.8575,N,-12158.4927,W,1,03,00.5,079.9,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201933.00,3648.85745,N,12158.49258,W,1,09,1.1,-2.79,M,-32.96,M,,*70 : Estimated North Bias at time = 2060.00 : 6.75 : Estimated East Bias at time = 2060.00 : 24.92 : Estimated Depth Bias at time = 2060.00 : -0.99 : Estimated northing and easting = 4074768.39 : 591458.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201933.80,3648.8574,N,-12158.4926,W,1,03,00.5,086.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201934.00,3648.85741,N,12158.49240,W,1,09,1.1,-3.40,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201934.80,3648.8574,N,-12158.4924,W,1,03,00.5,081.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201935.00,3648.85728,N,12158.49264,W,1,09,1.1,-3.32,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201935.80,3648.8573,N,-12158.4926,W,1,03,00.5,081.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201936.00,3648.85745,N,12158.49262,W,1,09,1.1,-2.43,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2064.998538 : TerrainNav update at dvl time = 2064.998538 : _navData-> (x,y) = (4074761.57, 591434.09) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201936.80,3648.8575,N,-12158.4926,W,1,03,00.5,083.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201937.00,3648.85739,N,12158.49273,W,1,09,1.1,-2.49,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201937.80,3648.8574,N,-12158.4927,W,1,03,00.5,081.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,201938.00,3648.85738,N,12158.49264,W,1,09,1.1,-2.31,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2065.00 : 5.74 : Estimated East Bias at time = 2065.00 : 25.65 : Estimated Depth Bias at time = 2065.00 : -1.00 : Estimated northing and easting = 4074767.31 : 591459.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201938.80,3648.8574,N,-12158.4926,W,1,03,00.5,082.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201939.00,3648.85735,N,12158.49238,W,1,09,1.1,-1.58,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201939.80,3648.8573,N,-12158.4924,W,1,03,00.5,086.0,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201940.00,3648.85728,N,12158.49199,W,1,09,1.1,-1.43,M,-32.96,M,,*7B : NMEA Update: $GPGGA,201940.80,3648.8573,N,-12158.4919,W,1,03,00.5,082.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201941.00,3648.85727,N,12158.49164,W,1,09,1.1,-1.39,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2069.998195 : TerrainNav update at dvl time = 2069.998195 : _navData-> (x,y) = (4074761.23, 591435.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201941.80,3648.8573,N,-12158.4916,W,1,03,00.5,082.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,201942.00,3648.85721,N,12158.49141,W,1,09,1.1,-1.95,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201942.80,3648.8572,N,-12158.4914,W,1,03,00.5,081.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,201943.00,3648.85720,N,12158.49128,W,1,09,1.1,-2.41,M,-32.96,M,,*7B : Estimated North Bias at time = 2070.00 : 5.30 : Estimated East Bias at time = 2070.00 : 25.97 : Estimated Depth Bias at time = 2070.00 : -1.00 : Estimated northing and easting = 4074766.53 : 591461.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201943.80,3648.8572,N,-12158.4913,W,1,03,00.5,082.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201944.00,3648.85728,N,12158.49145,W,1,09,1.1,-2.85,M,-32.96,M,,*77 : NMEA Update: $GPGGA,201944.80,3648.8573,N,-12158.4915,W,1,03,00.5,081.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201945.00,3648.85743,N,12158.49170,W,1,09,1.1,-2.64,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201945.80,3648.8575,N,-12158.4918,W,1,03,00.5,081.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,201946.00,3648.85751,N,12158.49178,W,1,09,1.1,-1.94,M,-32.96,M,,*76 : TerrainNav update at nav time = 2074.997853 : TerrainNav update at dvl time = 2074.997853 : _navData-> (x,y) = (4074761.70, 591435.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201946.80,3648.8575,N,-12158.4918,W,1,03,00.5,082.7,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,201947.00,3648.85755,N,12158.49143,W,1,09,1.1,-1.30,M,-32.96,M,,*75 : NMEA Update: $GPGGA,201947.80,3648.8575,N,-12158.4914,W,1,03,00.5,083.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,201948.00,3648.85745,N,12158.49097,W,1,09,1.1,-1.08,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2075.00 : 5.57 : Estimated East Bias at time = 2075.00 : 25.80 : Estimated Depth Bias at time = 2075.00 : -1.00 : Estimated northing and easting = 4074767.27 : 591461.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201948.80,3648.8574,N,-12158.4909,W,1,03,00.5,082.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,201949.00,3648.85730,N,12158.49043,W,1,09,1.1,-1.18,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201949.80,3648.8573,N,-12158.4903,W,1,03,00.5,082.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,201950.00,3648.85728,N,12158.48988,W,1,09,1.1,-1.58,M,-32.96,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201950.80,3648.8573,N,-12158.4898,W,1,03,00.5,084.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,201951.00,3648.85724,N,12158.48981,W,1,09,1.1,-2.29,M,-32.96,M,,*78 : TerrainNav update at nav time = 2079.997510 : TerrainNav update at dvl time = 2079.997510 : _navData-> (x,y) = (4074761.29, 591438.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201951.80,3648.8573,N,-12158.4897,W,1,03,00.5,080.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,201952.00,3648.85736,N,12158.48965,W,1,09,1.1,-2.62,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201952.80,3648.8574,N,-12158.4896,W,1,03,00.5,083.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201953.00,3648.85726,N,12158.48983,W,1,09,1.1,-2.88,M,-32.96,M,,*71 : Estimated North Bias at time = 2080.00 : 5.74 : Estimated East Bias at time = 2080.00 : 25.64 : Estimated Depth Bias at time = 2080.00 : -1.00 : Estimated northing and easting = 4074767.02 : 591464.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201953.80,3648.8572,N,-12158.4898,W,1,03,00.5,080.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,201954.00,3648.85729,N,12158.48984,W,1,09,1.1,-3.06,M,-32.96,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,201954.80,3648.8573,N,-12158.4899,W,1,03,00.5,079.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,201955.00,3648.85734,N,12158.48990,W,1,09,1.1,-2.33,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201955.80,3648.8574,N,-12158.4899,W,1,03,00.5,086.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,201956.00,3648.85741,N,12158.48975,W,1,09,1.1,-2.15,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2084.997168 : TerrainNav update at dvl time = 2084.997168 : _navData-> (x,y) = (4074761.57, 591438.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,201956.80,3648.8574,N,-12158.4897,W,1,03,00.5,082.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,201957.00,3648.85752,N,12158.48970,W,1,09,1.1,-1.97,M,-32.96,M,,*77 : NMEA Update: $GPGGA,201957.80,3648.8575,N,-12158.4897,W,1,03,00.5,082.7,M,-99.9,M,,*47 : 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,201958.00,3648.85752,N,12158.48973,W,1,09,1.1,-1.61,M,-32.96,M,,*72 : Estimated North Bias at time = 2085.00 : 5.11 : Estimated East Bias at time = 2085.00 : 26.03 : Estimated Depth Bias at time = 2085.00 : -1.00 : Estimated northing and easting = 4074766.68 : 591464.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,201958.80,3648.8575,N,-12158.4897,W,1,03,00.5,082.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,201959.00,3648.85755,N,12158.48933,W,1,09,1.1,-1.13,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,201959.80,3648.8575,N,-12158.4893,W,1,03,00.5,081.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202000.00,3648.85748,N,12158.48888,W,1,09,1.1,-0.95,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202000.80,3648.8575,N,-12158.4888,W,1,03,00.5,083.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202001.00,3648.85750,N,12158.48841,W,1,09,1.1,-1.45,M,-32.96,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2089.996825 : TerrainNav update at dvl time = 2089.996825 : _navData-> (x,y) = (4074761.69, 591440.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202001.80,3648.8575,N,-12158.4883,W,1,03,00.5,083.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202002.00,3648.85754,N,12158.48820,W,1,09,1.1,-1.72,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202002.80,3648.8576,N,-12158.4882,W,1,03,00.5,081.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202003.00,3648.85751,N,12158.48797,W,1,09,1.1,-1.82,M,-32.96,M,,*7C : Estimated North Bias at time = 2090.00 : 5.25 : Estimated East Bias at time = 2090.00 : 26.02 : Estimated Depth Bias at time = 2090.00 : -1.00 : Estimated northing and easting = 4074766.95 : 591466.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202003.80,3648.8575,N,-12158.4879,W,1,03,00.5,082.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202004.00,3648.85746,N,12158.48797,W,1,09,1.1,-2.49,M,-32.96,M,,*79 : NMEA Update: $GPGGA,202004.80,3648.8575,N,-12158.4879,W,1,03,00.5,082.4,M,-99.9,M,,*48 : 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,202005.00,3648.85761,N,12158.48798,W,1,09,1.1,-2.21,M,-32.96,M,,*7C : NMEA Update: $GPGGA,202005.80,3648.8576,N,-12158.4880,W,1,03,00.5,081.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202006.00,3648.85763,N,12158.48811,W,1,09,1.1,-2.39,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2094.996483 : TerrainNav update at dvl time = 2094.996483 : _navData-> (x,y) = (4074761.96, 591440.82) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202006.80,3648.8576,N,-12158.4881,W,1,03,00.5,083.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202007.00,3648.85773,N,12158.48817,W,1,09,1.1,-2.15,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202007.80,3648.8578,N,-12158.4882,W,1,03,00.5,078.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202008.00,3648.85786,N,12158.48779,W,1,09,1.1,-2.14,M,-32.96,M,,*71 : Estimated North Bias at time = 2095.00 : 11.91 : Estimated East Bias at time = 2095.00 : 24.81 : Estimated Depth Bias at time = 2095.00 : -0.96 : Estimated northing and easting = 4074773.88 : 591465.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202008.80,3648.8579,N,-12158.4877,W,1,03,00.5,086.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202009.00,3648.85769,N,12158.48779,W,1,09,1.1,-2.48,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202009.80,3648.8577,N,-12158.4877,W,1,03,00.5,083.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202010.00,3648.85764,N,12158.48750,W,1,09,1.1,-2.39,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202010.80,3648.8576,N,-12158.4875,W,1,03,00.5,078.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202011.00,3648.85744,N,12158.48766,W,1,09,1.1,-2.12,M,-32.96,M,,*7F : TerrainNav update at nav time = 2099.996140 : TerrainNav update at dvl time = 2099.996140 : _navData-> (x,y) = (4074761.55, 591441.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202011.80,3648.8574,N,-12158.4876,W,1,03,00.5,085.0,M,-99.9,M,,*41 : 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,202012.00,3648.85746,N,12158.48739,W,1,09,1.1,-1.73,M,-32.96,M,,*70 : NMEA Update: $GPGGA,202012.80,3648.8575,N,-12158.4874,W,1,03,00.5,085.4,M,-99.9,M,,*45 : Estimated North Bias at time = 2100.00 : 30.96 : Estimated East Bias at time = 2100.00 : 26.23 : Estimated Depth Bias at time = 2100.00 : -0.89 : Estimated northing and easting = 4074792.51 : 591467.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202013.00,3648.85734,N,12158.48738,W,1,09,1.1,-2.06,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202013.80,3648.8573,N,-12158.4874,W,1,03,00.5,082.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202014.00,3648.85750,N,12158.48720,W,1,09,1.1,-1.76,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202014.80,3648.8575,N,-12158.4872,W,1,03,00.5,082.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202015.00,3648.85752,N,12158.48690,W,1,09,1.1,-1.71,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202015.80,3648.8575,N,-12158.4869,W,1,03,00.5,083.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202016.00,3648.85741,N,12158.48671,W,1,09,1.1,-2.31,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2104.995798 : TerrainNav update at dvl time = 2104.995798 : _navData-> (x,y) = (4074761.53, 591443.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202016.80,3648.8574,N,-12158.4866,W,1,03,00.5,081.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202017.00,3648.85750,N,12158.48682,W,1,09,1.1,-2.44,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202017.80,3648.8575,N,-12158.4869,W,1,03,00.5,081.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202018.00,3648.85760,N,12158.48684,W,1,09,1.1,-2.34,M,-32.96,M,,*79 : Estimated North Bias at time = 2105.00 : 30.97 : Estimated East Bias at time = 2105.00 : 26.00 : Estimated Depth Bias at time = 2105.00 : -0.88 : Estimated northing and easting = 4074792.49 : 591469.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202018.80,3648.8576,N,-12158.4868,W,1,03,00.5,083.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202019.00,3648.85765,N,12158.48671,W,1,09,1.1,-2.16,M,-32.96,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202019.80,3648.8577,N,-12158.4867,W,1,03,00.5,082.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202020.00,3648.85759,N,12158.48656,W,1,09,1.1,-2.19,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202020.80,3648.8576,N,-12158.4865,W,1,03,00.5,083.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202021.00,3648.85760,N,12158.48636,W,1,09,1.1,-2.19,M,-32.96,M,,*75 : TerrainNav update at nav time = 2109.995456 : TerrainNav update at dvl time = 2109.995456 : _navData-> (x,y) = (4074761.89, 591443.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202021.80,3648.8576,N,-12158.4863,W,1,03,00.5,081.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202022.00,3648.85749,N,12158.48647,W,1,09,1.1,-3.00,M,-32.96,M,,*72 : NMEA Update: $GPGGA,202022.80,3648.8575,N,-12158.4865,W,1,03,00.5,082.6,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202023.00,3648.85750,N,12158.48645,W,1,09,1.1,-2.81,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2110.00 : 30.84 : Estimated East Bias at time = 2110.00 : 26.01 : Estimated Depth Bias at time = 2110.00 : -0.89 : Estimated northing and easting = 4074792.73 : 591469.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202023.80,3648.8575,N,-12158.4865,W,1,03,00.5,082.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202024.00,3648.85748,N,12158.48634,W,1,09,1.1,-2.35,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202024.80,3648.8575,N,-12158.4863,W,1,03,00.5,082.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202025.00,3648.85744,N,12158.48612,W,1,09,1.1,-2.41,M,-32.96,M,,*7C : NMEA Update: $GPGGA,202025.80,3648.8574,N,-12158.4861,W,1,03,00.5,081.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202026.00,3648.85742,N,12158.48606,W,1,09,1.1,-2.52,M,-32.96,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2114.995113 : TerrainNav update at dvl time = 2114.995113 : _navData-> (x,y) = (4074761.59, 591443.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202026.80,3648.8574,N,-12158.4860,W,1,03,00.5,082.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202027.00,3648.85742,N,12158.48612,W,1,09,1.1,-2.29,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202027.80,3648.8574,N,-12158.4861,W,1,03,00.5,080.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202028.00,3648.85751,N,12158.48583,W,1,09,1.1,-1.85,M,-32.96,M,,*75 : Estimated North Bias at time = 2115.00 : 30.83 : Estimated East Bias at time = 2115.00 : 26.02 : Estimated Depth Bias at time = 2115.00 : -0.89 : Estimated northing and easting = 4074792.43 : 591469.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202028.80,3648.8575,N,-12158.4858,W,1,03,00.5,085.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202029.00,3648.85741,N,12158.48548,W,1,09,1.1,-1.69,M,-32.96,M,,*70 : NMEA Update: $GPGGA,202029.80,3648.8574,N,-12158.4854,W,1,03,00.5,083.0,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202030.00,3648.85734,N,12158.48511,W,1,09,1.1,-1.97,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202030.80,3648.8573,N,-12158.4850,W,1,03,00.5,082.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202031.00,3648.85723,N,12158.48512,W,1,09,1.1,-2.43,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2119.994771 : TerrainNav update at dvl time = 2119.994771 : _navData-> (x,y) = (4074761.25, 591445.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202031.80,3648.8572,N,-12158.4851,W,1,03,00.5,082.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202032.00,3648.85734,N,12158.48494,W,1,09,1.1,-2.82,M,-32.96,M,,*7E : NMEA Update: $GPGGA,202032.80,3648.8574,N,-12158.4849,W,1,03,00.5,082.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202033.00,3648.85735,N,12158.48514,W,1,09,1.1,-3.34,M,-32.96,M,,*7B : Estimated North Bias at time = 2119.99 : 30.40 : Estimated East Bias at time = 2119.99 : 25.97 : Estimated Depth Bias at time = 2119.99 : -0.89 : Estimated northing and easting = 4074791.65 : 591471.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202033.80,3648.8574,N,-12158.4852,W,1,03,00.5,079.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202034.00,3648.85751,N,12158.48548,W,1,09,1.1,-3.35,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202034.81,3648.8575,N,-12158.4856,W,1,03,00.5,082.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202035.00,3648.85751,N,12158.48589,W,1,09,1.1,-2.80,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202035.81,3648.8575,N,-12158.4860,W,1,03,00.5,082.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202036.00,3648.85765,N,12158.48572,W,1,09,1.1,-1.67,M,-32.96,M,,*7F : TerrainNav update at nav time = 2124.994428 : TerrainNav update at dvl time = 2124.994428 : _navData-> (x,y) = (4074762.04, 591444.36) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202036.81,3648.8577,N,-12158.4857,W,1,03,00.5,083.3,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202037.00,3648.85775,N,12158.48517,W,1,09,1.1,-0.69,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202037.81,3648.8578,N,-12158.4851,W,1,03,00.5,083.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202038.00,3648.85770,N,12158.48441,W,1,09,1.1,-0.40,M,-32.96,M,,*70 : Estimated North Bias at time = 2124.99 : 30.46 : Estimated East Bias at time = 2124.99 : 26.03 : Estimated Depth Bias at time = 2124.99 : -0.90 : Estimated northing and easting = 4074792.50 : 591470.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202038.81,3648.8577,N,-12158.4843,W,1,03,00.5,084.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202039.00,3648.85772,N,12158.48353,W,1,09,1.1,-0.82,M,-32.96,M,,*79 : NMEA Update: $GPGGA,202039.81,3648.8577,N,-12158.4834,W,1,03,00.5,084.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202040.00,3648.85762,N,12158.48302,W,1,09,1.1,-2.01,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202040.81,3648.8577,N,-12158.4828,W,1,03,00.5,080.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202041.00,3648.85760,N,12158.48288,W,1,09,1.1,-3.16,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2129.994085 : TerrainNav update at dvl time = 2129.994085 : _navData-> (x,y) = (4074761.90, 591448.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202041.81,3648.8576,N,-12158.4829,W,1,03,00.5,081.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202042.00,3648.85757,N,12158.48333,W,1,09,1.1,-3.89,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2129.99 : 29.75 : Estimated East Bias at time = 2129.99 : 26.23 : Estimated Depth Bias at time = 2129.99 : -0.89 : Estimated northing and easting = 4074791.64 : 591474.88 : NMEA Update: $GPGGA,202042.81,3648.8576,N,-12158.4834,W,1,03,00.5,080.2,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202043.00,3648.85761,N,12158.48383,W,1,09,1.1,-3.79,M,-32.96,M,,*7C : NMEA Update: $GPGGA,202043.81,3648.8576,N,-12158.4839,W,1,03,00.5,080.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202044.00,3648.85767,N,12158.48416,W,1,09,1.1,-3.38,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202044.81,3648.8577,N,-12158.4842,W,1,03,00.5,081.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202045.00,3648.85763,N,12158.48429,W,1,09,1.1,-2.49,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202045.81,3648.8576,N,-12158.4843,W,1,03,00.5,081.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202046.00,3648.85764,N,12158.48401,W,1,09,1.1,-1.75,M,-32.96,M,,*7F : TerrainNav update at nav time = 2134.993743 : TerrainNav update at dvl time = 2134.993743 : _navData-> (x,y) = (4074762.03, 591446.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202046.81,3648.8576,N,-12158.4839,W,1,03,00.5,082.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202047.00,3648.85760,N,12158.48353,W,1,09,1.1,-1.39,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202047.81,3648.8576,N,-12158.4834,W,1,03,00.5,083.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202048.00,3648.85750,N,12158.48297,W,1,09,1.1,-1.82,M,-32.96,M,,*77 : Estimated North Bias at time = 2134.99 : 30.00 : Estimated East Bias at time = 2134.99 : 26.20 : Estimated Depth Bias at time = 2134.99 : -0.89 : Estimated northing and easting = 4074792.03 : 591473.19 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202048.81,3648.8575,N,-12158.4828,W,1,03,00.5,082.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202049.00,3648.85740,N,12158.48262,W,1,09,1.1,-2.08,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202049.81,3648.8574,N,-12158.4826,W,1,03,00.5,082.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202050.00,3648.85738,N,12158.48251,W,1,09,1.1,-2.73,M,-32.96,M,,*77 : NMEA Update: $GPGGA,202050.81,3648.8574,N,-12158.4825,W,1,03,00.5,082.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202051.00,3648.85744,N,12158.48264,W,1,09,1.1,-2.88,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2139.993400 : TerrainNav update at dvl time = 2139.993400 : _navData-> (x,y) = (4074761.71, 591448.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202051.81,3648.8575,N,-12158.4827,W,1,03,00.5,082.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202052.00,3648.85745,N,12158.48260,W,1,09,1.1,-2.58,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202052.81,3648.8574,N,-12158.4826,W,1,03,00.5,083.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202053.00,3648.85750,N,12158.48240,W,1,09,1.1,-2.28,M,-32.96,M,,*74 : Estimated North Bias at time = 2139.99 : 30.02 : Estimated East Bias at time = 2139.99 : 26.26 : Estimated Depth Bias at time = 2139.99 : -0.89 : Estimated northing and easting = 4074791.73 : 591475.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202053.81,3648.8575,N,-12158.4823,W,1,03,00.5,082.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202054.00,3648.85760,N,12158.48221,W,1,09,1.1,-2.11,M,-32.96,M,,*7D : NMEA Update: $GPGGA,202054.81,3648.8576,N,-12158.4822,W,1,03,00.5,082.3,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202055.00,3648.85764,N,12158.48201,W,1,09,1.1,-2.27,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202055.81,3648.8576,N,-12158.4820,W,1,03,00.5,082.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202056.00,3648.85767,N,12158.48182,W,1,09,1.1,-2.53,M,-32.96,M,,*74 : TerrainNav update at nav time = 2144.993058 : TerrainNav update at dvl time = 2144.993058 : _navData-> (x,y) = (4074762.13, 591450.27) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202056.81,3648.8577,N,-12158.4818,W,1,03,00.5,081.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202057.00,3648.85770,N,12158.48176,W,1,09,1.1,-2.56,M,-32.96,M,,*7D : NMEA Update: $GPGGA,202057.81,3648.8577,N,-12158.4818,W,1,03,00.5,082.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202058.00,3648.85770,N,12158.48162,W,1,09,1.1,-2.56,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2144.99 : 30.42 : Estimated East Bias at time = 2144.99 : 28.80 : Estimated Depth Bias at time = 2144.99 : -0.92 : Estimated northing and easting = 4074792.54 : 591479.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202058.81,3648.8577,N,-12158.4816,W,1,03,00.5,082.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202059.00,3648.85767,N,12158.48150,W,1,09,1.1,-2.88,M,-32.96,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202059.81,3648.8577,N,-12158.4814,W,1,03,00.5,082.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202100.00,3648.85759,N,12158.48156,W,1,09,1.1,-3.18,M,-32.96,M,,*7C : NMEA Update: $GPGGA,202100.81,3648.8576,N,-12158.4815,W,1,03,00.5,081.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202101.00,3648.85765,N,12158.48158,W,1,09,1.1,-3.15,M,-32.96,M,,*71 : TerrainNav update at nav time = 2150.002715 : TerrainNav update at dvl time = 2150.002715 : _navData-> (x,y) = (4074762.06, 591450.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202101.81,3648.8576,N,-12158.4816,W,1,03,00.5,081.0,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202102.00,3648.85749,N,12158.48167,W,1,09,1.1,-3.13,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202102.81,3648.8575,N,-12158.4817,W,1,03,00.5,080.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202103.00,3648.85752,N,12158.48159,W,1,09,1.1,-2.64,M,-32.96,M,,*71 : Estimated North Bias at time = 2150.00 : 30.37 : Estimated East Bias at time = 2150.00 : 29.23 : Estimated Depth Bias at time = 2150.00 : -0.92 : Estimated northing and easting = 4074792.43 : 591479.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202103.81,3648.8575,N,-12158.4816,W,1,03,00.5,081.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202104.00,3648.85750,N,12158.48133,W,1,09,1.1,-2.03,M,-32.96,M,,*79 : NMEA Update: $GPGGA,202104.81,3648.8575,N,-12158.4813,W,1,03,00.5,083.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202105.00,3648.85746,N,12158.48096,W,1,09,1.1,-1.97,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202105.81,3648.8575,N,-12158.4809,W,1,03,00.5,082.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202106.00,3648.85751,N,12158.48059,W,1,09,1.1,-2.01,M,-32.96,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2155.002372 : TerrainNav update at dvl time = 2155.002372 : _navData-> (x,y) = (4074761.86, 591452.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202106.81,3648.8575,N,-12158.4805,W,1,03,00.5,082.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202107.00,3648.85743,N,12158.48048,W,1,09,1.1,-2.49,M,-32.96,M,,*7B : NMEA Update: $GPGGA,202107.81,3648.8574,N,-12158.4805,W,1,03,00.5,082.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202108.00,3648.85761,N,12158.48040,W,1,09,1.1,-2.57,M,-32.96,M,,*73 : Estimated North Bias at time = 2155.00 : 30.20 : Estimated East Bias at time = 2155.00 : 29.19 : Estimated Depth Bias at time = 2155.00 : -0.92 : Estimated northing and easting = 4074792.05 : 591481.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202108.81,3648.8576,N,-12158.4804,W,1,03,00.5,080.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202109.00,3648.85770,N,12158.48049,W,1,09,1.1,-2.76,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202109.81,3648.8577,N,-12158.4805,W,1,03,00.5,081.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202110.00,3648.85793,N,12158.48059,W,1,09,1.1,-2.83,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202110.81,3648.8580,N,-12158.4806,W,1,03,00.5,082.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202111.00,3648.85806,N,12158.48076,W,1,09,1.1,-2.52,M,-32.96,M,,*75 : TerrainNav update at nav time = 2160.002030 : TerrainNav update at dvl time = 2160.002030 : _navData-> (x,y) = (4074762.93, 591451.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202111.81,3648.8581,N,-12158.4808,W,1,03,00.5,082.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202112.00,3648.85800,N,12158.48055,W,1,09,1.1,-2.13,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202112.81,3648.8580,N,-12158.4805,W,1,03,00.5,083.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202113.00,3648.85793,N,12158.48009,W,1,09,1.1,-1.79,M,-32.96,M,,*76 : Estimated North Bias at time = 2160.00 : 30.12 : Estimated East Bias at time = 2160.00 : 29.36 : Estimated Depth Bias at time = 2160.00 : -0.92 : Estimated northing and easting = 4074793.05 : 591481.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202113.81,3648.8579,N,-12158.4800,W,1,03,00.5,084.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202114.00,3648.85799,N,12158.47959,W,1,09,1.1,-1.62,M,-32.96,M,,*72 : NMEA Update: $GPGGA,202114.81,3648.8580,N,-12158.4795,W,1,03,00.5,083.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202115.00,3648.85801,N,12158.47907,W,1,09,1.1,-1.90,M,-32.96,M,,*7B : NMEA Update: $GPGGA,202115.81,3648.8580,N,-12158.4790,W,1,03,00.5,082.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202116.00,3648.85802,N,12158.47862,W,1,09,1.1,-2.28,M,-32.96,M,,*79 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2165.001687 : TerrainNav update at dvl time = 2165.001687 : _navData-> (x,y) = (4074762.80, 591455.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202116.81,3648.8580,N,-12158.4785,W,1,03,00.5,082.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202117.00,3648.85798,N,12158.47856,W,1,09,1.1,-3.16,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202117.81,3648.8580,N,-12158.4786,W,1,03,00.5,081.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202118.00,3648.85796,N,12158.47892,W,1,09,1.1,-3.81,M,-32.96,M,,*78 : Estimated North Bias at time = 2165.00 : 31.38 : Estimated East Bias at time = 2165.00 : 32.76 : Estimated Depth Bias at time = 2165.00 : -0.91 : Estimated northing and easting = 4074794.18 : 591487.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202118.81,3648.8579,N,-12158.4790,W,1,03,00.5,081.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202119.00,3648.85796,N,12158.47940,W,1,09,1.1,-3.72,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202119.81,3648.8580,N,-12158.4795,W,1,03,00.5,080.2,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202120.00,3648.85801,N,12158.47954,W,1,09,1.1,-3.04,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202120.81,3648.8580,N,-12158.4796,W,1,03,00.5,081.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202121.00,3648.85797,N,12158.47949,W,1,09,1.1,-2.63,M,-32.96,M,,*79 : TerrainNav update at nav time = 2170.001345 : TerrainNav update at dvl time = 2170.001345 : _navData-> (x,y) = (4074762.71, 591453.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202121.81,3648.8580,N,-12158.4795,W,1,03,00.5,082.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202122.00,3648.85794,N,12158.47936,W,1,09,1.1,-2.30,M,-32.96,M,,*77 : NMEA Update: $GPGGA,202122.81,3648.8579,N,-12158.4793,W,1,03,00.5,083.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202123.00,3648.85791,N,12158.47908,W,1,09,1.1,-2.17,M,-32.96,M,,*7B : Estimated North Bias at time = 2170.00 : 32.06 : Estimated East Bias at time = 2170.00 : 34.56 : Estimated Depth Bias at time = 2170.00 : -0.91 : Estimated northing and easting = 4074794.78 : 591488.22 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202123.81,3648.8579,N,-12158.4790,W,1,03,00.5,083.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202124.00,3648.85783,N,12158.47885,W,1,09,1.1,-2.12,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202124.81,3648.8578,N,-12158.4788,W,1,03,00.5,082.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202125.00,3648.85790,N,12158.47851,W,1,09,1.1,-1.91,M,-32.96,M,,*7C : NMEA Update: $GPGGA,202125.81,3648.8579,N,-12158.4785,W,1,03,00.5,082.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202126.00,3648.85782,N,12158.47827,W,1,09,1.1,-2.00,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2175.001002 : TerrainNav update at dvl time = 2175.001002 : _navData-> (x,y) = (4074762.47, 591455.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202126.81,3648.8578,N,-12158.4782,W,1,03,00.5,082.9,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202127.00,3648.85804,N,12158.47798,W,1,09,1.1,-1.96,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202127.81,3648.8581,N,-12158.4779,W,1,03,00.5,081.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202128.00,3648.85823,N,12158.47776,W,1,09,1.1,-2.11,M,-32.96,M,,*77 : Estimated North Bias at time = 2175.00 : 32.12 : Estimated East Bias at time = 2175.00 : 34.95 : Estimated Depth Bias at time = 2175.00 : -0.91 : Estimated northing and easting = 4074794.59 : 591490.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202128.81,3648.8583,N,-12158.4777,W,1,03,00.5,082.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202129.00,3648.85840,N,12158.47765,W,1,09,1.1,-2.32,M,-32.96,M,,*70 : NMEA Update: $GPGGA,202129.81,3648.8584,N,-12158.4776,W,1,03,00.5,082.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202130.00,3648.85854,N,12158.47760,W,1,09,1.1,-2.42,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202130.80,3648.8586,N,-12158.4776,W,1,03,00.5,081.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202131.00,3648.85859,N,12158.47736,W,1,09,1.1,-2.17,M,-32.96,M,,*70 : TerrainNav update at nav time = 2180.000660 : TerrainNav update at dvl time = 2180.000660 : _navData-> (x,y) = (4074763.91, 591456.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202131.80,3648.8586,N,-12158.4773,W,1,03,00.5,082.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202132.00,3648.85859,N,12158.47704,W,1,09,1.1,-2.62,M,-32.96,M,,*70 : NMEA Update: $GPGGA,202132.80,3648.8586,N,-12158.4770,W,1,03,00.5,082.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202133.00,3648.85859,N,12158.47697,W,1,09,1.1,-3.31,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2180.00 : 31.99 : Estimated East Bias at time = 2180.00 : 34.99 : Estimated Depth Bias at time = 2180.00 : -0.91 : Estimated northing and easting = 4074795.90 : 591491.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202133.80,3648.8586,N,-12158.4770,W,1,03,00.5,081.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202134.00,3648.85856,N,12158.47725,W,1,09,1.1,-3.38,M,-32.96,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202134.80,3648.8586,N,-12158.4773,W,1,03,00.5,080.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202135.00,3648.85853,N,12158.47734,W,1,09,1.1,-3.06,M,-32.96,M,,*7D : NMEA Update: $GPGGA,202135.80,3648.8585,N,-12158.4774,W,1,03,00.5,080.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202136.00,3648.85851,N,12158.47728,W,1,09,1.1,-2.66,M,-32.96,M,,*76 : TerrainNav update at nav time = 2185.000317 : TerrainNav update at dvl time = 2185.000317 : _navData-> (x,y) = (4074763.73, 591456.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202136.80,3648.8585,N,-12158.4773,W,1,03,00.5,082.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202137.00,3648.85845,N,12158.47713,W,1,09,1.1,-2.39,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202137.80,3648.8584,N,-12158.4771,W,1,03,00.5,082.5,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202138.00,3648.85847,N,12158.47700,W,1,09,1.1,-2.62,M,-32.96,M,,*71 : Estimated North Bias at time = 2185.00 : 32.00 : Estimated East Bias at time = 2185.00 : 35.01 : Estimated Depth Bias at time = 2185.00 : -0.91 : Estimated northing and easting = 4074795.73 : 591491.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202138.80,3648.8585,N,-12158.4770,W,1,03,00.5,082.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202139.00,3648.85845,N,12158.47696,W,1,09,1.1,-2.21,M,-32.96,M,,*7B : NMEA Update: $GPGGA,202139.80,3648.8585,N,-12158.4770,W,1,03,00.5,081.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,202140.00,3648.85850,N,12158.47668,W,1,09,1.1,-1.91,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202140.80,3648.8585,N,-12158.4766,W,1,03,00.5,082.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202141.00,3648.85849,N,12158.47643,W,1,09,1.1,-1.69,M,-32.96,M,,*7F : 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 = 2189.999975 : TerrainNav update at dvl time = 2189.999975 : _navData-> (x,y) = (4074763.75, 591458.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202141.80,3648.8585,N,-12158.4764,W,1,03,00.5,083.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202142.00,3648.85863,N,12158.47602,W,1,09,1.1,-1.72,M,-32.96,M,,*7B : NMEA Update: $GPGGA,202142.80,3648.8586,N,-12158.4759,W,1,03,00.5,083.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202143.00,3648.85874,N,12158.47576,W,1,09,1.1,-1.92,M,-32.96,M,,*72 : Estimated North Bias at time = 2190.00 : 32.01 : Estimated East Bias at time = 2190.00 : 35.11 : Estimated Depth Bias at time = 2190.00 : -0.91 : Estimated northing and easting = 4074795.76 : 591493.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202143.80,3648.8588,N,-12158.4757,W,1,03,00.5,082.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202144.00,3648.85877,N,12158.47564,W,1,09,1.1,-2.17,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202144.80,3648.8588,N,-12158.4756,W,1,03,00.5,083.4,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202145.00,3648.85899,N,12158.47548,W,1,09,1.1,-2.42,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202145.80,3648.8590,N,-12158.4755,W,1,03,00.5,081.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202146.00,3648.85915,N,12158.47542,W,1,09,1.1,-2.40,M,-32.96,M,,*7A : TerrainNav update at nav time = 2194.999632 : TerrainNav update at dvl time = 2194.999632 : _navData-> (x,y) = (4074765.06, 591459.70) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202146.80,3648.8592,N,-12158.4754,W,1,03,00.5,081.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202147.00,3648.85913,N,12158.47525,W,1,09,1.1,-2.57,M,-32.96,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202147.80,3648.8591,N,-12158.4752,W,1,03,00.5,081.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202148.00,3648.85907,N,12158.47515,W,1,09,1.1,-2.68,M,-32.96,M,,*7F : Estimated North Bias at time = 2195.00 : 32.18 : Estimated East Bias at time = 2195.00 : 36.04 : Estimated Depth Bias at time = 2195.00 : -0.91 : Estimated northing and easting = 4074797.25 : 591495.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202148.80,3648.8591,N,-12158.4751,W,1,03,00.5,083.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202149.00,3648.85910,N,12158.47513,W,1,09,1.1,-2.52,M,-32.96,M,,*77 : NMEA Update: $GPGGA,202149.80,3648.8591,N,-12158.4751,W,1,03,00.5,082.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202150.00,3648.85924,N,12158.47502,W,1,09,1.1,-2.58,M,-32.96,M,,*72 : NMEA Update: $GPGGA,202150.80,3648.8592,N,-12158.4750,W,1,03,00.5,080.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202151.00,3648.85929,N,12158.47500,W,1,09,1.1,-2.14,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2199.999290 : TerrainNav update at dvl time = 2199.999290 : _navData-> (x,y) = (4074765.30, 591460.30) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202151.80,3648.8593,N,-12158.4750,W,1,03,00.5,082.5,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202152.00,3648.85917,N,12158.47473,W,1,09,1.1,-2.28,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202152.80,3648.8591,N,-12158.4747,W,1,03,00.5,081.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202153.00,3648.85907,N,12158.47453,W,1,09,1.1,-2.33,M,-32.96,M,,*78 : Estimated North Bias at time = 2200.00 : 32.38 : Estimated East Bias at time = 2200.00 : 36.21 : Estimated Depth Bias at time = 2200.00 : -0.92 : Estimated northing and easting = 4074797.68 : 591496.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202153.80,3648.8591,N,-12158.4745,W,1,03,00.5,082.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202154.00,3648.85909,N,12158.47448,W,1,09,1.1,-2.03,M,-32.96,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202154.80,3648.8591,N,-12158.4745,W,1,03,00.5,082.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202155.00,3648.85908,N,12158.47419,W,1,09,1.1,-1.92,M,-32.96,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 : NMEA Update: $GPGGA,202155.80,3648.8591,N,-12158.4742,W,1,03,00.5,082.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202156.00,3648.85897,N,12158.47395,W,1,09,1.1,-2.26,M,-32.96,M,,*7C : TerrainNav update at nav time = 2204.998947 : TerrainNav update at dvl time = 2204.998947 : _navData-> (x,y) = (4074764.61, 591461.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202156.80,3648.8590,N,-12158.4739,W,1,03,00.5,082.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202157.00,3648.85906,N,12158.47383,W,1,09,1.1,-2.54,M,-32.96,M,,*76 : NMEA Update: $GPGGA,202157.80,3648.8591,N,-12158.4738,W,1,03,00.5,081.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202158.00,3648.85913,N,12158.47390,W,1,09,1.1,-3.11,M,-32.96,M,,*7F : Estimated North Bias at time = 2205.00 : 32.38 : Estimated East Bias at time = 2205.00 : 36.19 : Estimated Depth Bias at time = 2205.00 : -0.92 : Estimated northing and easting = 4074796.99 : 591498.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202158.80,3648.8591,N,-12158.4739,W,1,03,00.5,081.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202159.00,3648.85909,N,12158.47416,W,1,09,1.1,-3.18,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202159.80,3648.8591,N,-12158.4742,W,1,03,00.5,081.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202200.00,3648.85911,N,12158.47409,W,1,09,1.1,-2.62,M,-32.96,M,,*71 : NMEA Update: $GPGGA,202200.80,3648.8591,N,-12158.4741,W,1,03,00.5,080.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202201.00,3648.85911,N,12158.47388,W,1,09,1.1,-1.75,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2209.998605 : TerrainNav update at dvl time = 2209.998605 : _navData-> (x,y) = (4074764.91, 591462.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202201.80,3648.8591,N,-12158.4738,W,1,03,00.5,081.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202202.00,3648.85920,N,12158.47342,W,1,09,1.1,-1.25,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202202.80,3648.8592,N,-12158.4733,W,1,03,00.5,082.2,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202203.00,3648.85918,N,12158.47299,W,1,09,1.1,-1.06,M,-32.96,M,,*75 : Estimated North Bias at time = 2210.00 : 32.38 : Estimated East Bias at time = 2210.00 : 36.19 : Estimated Depth Bias at time = 2210.00 : -0.92 : Estimated northing and easting = 4074797.28 : 591498.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202203.80,3648.8592,N,-12158.4729,W,1,03,00.5,083.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202204.00,3648.85925,N,12158.47251,W,1,09,1.1,-1.24,M,-32.96,M,,*78 : NMEA Update: $GPGGA,202204.80,3648.8592,N,-12158.4724,W,1,03,00.5,083.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202205.00,3648.85924,N,12158.47216,W,1,09,1.1,-1.84,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202205.80,3648.8593,N,-12158.4721,W,1,03,00.5,082.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202206.00,3648.85927,N,12158.47205,W,1,09,1.1,-2.43,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2214.998262 : TerrainNav update at dvl time = 2214.998262 : _navData-> (x,y) = (4074765.25, 591464.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202206.80,3648.8593,N,-12158.4720,W,1,03,00.5,081.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202207.00,3648.85941,N,12158.47212,W,1,09,1.1,-3.04,M,-32.96,M,,*7E : NMEA Update: $GPGGA,202207.80,3648.8594,N,-12158.4721,W,1,03,00.5,081.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202208.00,3648.85944,N,12158.47248,W,1,09,1.1,-3.23,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2215.00 : 32.38 : Estimated East Bias at time = 2215.00 : 36.32 : Estimated Depth Bias at time = 2215.00 : -0.92 : Estimated northing and easting = 4074797.64 : 591501.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202208.80,3648.8594,N,-12158.4725,W,1,03,00.5,081.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202209.00,3648.85955,N,12158.47266,W,1,09,1.1,-2.91,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202209.80,3648.8596,N,-12158.4727,W,1,03,00.5,079.6,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202210.00,3648.85945,N,12158.47270,W,1,09,1.1,-2.22,M,-32.96,M,,*7D : NMEA Update: $GPGGA,202210.80,3648.8594,N,-12158.4727,W,1,03,00.5,081.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202211.00,3648.85937,N,12158.47242,W,1,09,1.1,-1.81,M,-32.96,M,,*72 : TerrainNav update at nav time = 2219.997920 : TerrainNav update at dvl time = 2219.997920 : _navData-> (x,y) = (4074765.41, 591464.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202211.80,3648.8593,N,-12158.4724,W,1,03,00.5,082.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202212.00,3648.85914,N,12158.47212,W,1,09,1.1,-1.50,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202212.80,3648.8591,N,-12158.4720,W,1,03,00.5,082.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202213.00,3648.85903,N,12158.47166,W,1,09,1.1,-1.55,M,-32.96,M,,*7B : Estimated North Bias at time = 2220.00 : 32.39 : Estimated East Bias at time = 2220.00 : 36.28 : Estimated Depth Bias at time = 2220.00 : -0.92 : Estimated northing and easting = 4074797.80 : 591500.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202213.80,3648.8590,N,-12158.4716,W,1,03,00.5,083.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202214.00,3648.85890,N,12158.47139,W,1,09,1.1,-1.70,M,-32.96,M,,*7A : NMEA Update: $GPGGA,202214.80,3648.8589,N,-12158.4713,W,1,03,00.5,081.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202215.00,3648.85889,N,12158.47119,W,1,09,1.1,-1.92,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202215.80,3648.8589,N,-12158.4712,W,1,03,00.5,083.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202216.00,3648.85897,N,12158.47104,W,1,09,1.1,-2.23,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2224.997577 : TerrainNav update at dvl time = 2224.997577 : _navData-> (x,y) = (4074764.70, 591466.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202216.80,3648.8590,N,-12158.4710,W,1,03,00.5,080.9,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202217.00,3648.85903,N,12158.47089,W,1,09,1.1,-2.33,M,-32.96,M,,*7C : NMEA Update: $GPGGA,202217.80,3648.8590,N,-12158.4709,W,1,03,00.5,083.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202218.00,3648.85907,N,12158.47079,W,1,09,1.1,-3.14,M,-32.96,M,,*7C : Estimated North Bias at time = 2225.00 : 32.42 : Estimated East Bias at time = 2225.00 : 36.17 : Estimated Depth Bias at time = 2225.00 : -0.92 : Estimated northing and easting = 4074797.12 : 591502.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202218.80,3648.8591,N,-12158.4708,W,1,03,00.5,081.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202219.00,3648.85912,N,12158.47112,W,1,09,1.1,-3.25,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202219.80,3648.8592,N,-12158.4712,W,1,03,00.5,080.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,202220.00,3648.85916,N,12158.47140,W,1,09,1.1,-2.61,M,-32.96,M,,*7F : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202220.80,3648.8592,N,-12158.4715,W,1,03,00.5,081.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202221.00,3648.85923,N,12158.47131,W,1,09,1.1,-1.75,M,-32.96,M,,*78 : TerrainNav update at nav time = 2229.997235 : TerrainNav update at dvl time = 2229.997235 : _navData-> (x,y) = (4074765.17, 591465.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202221.80,3648.8592,N,-12158.4713,W,1,03,00.5,082.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202222.00,3648.85938,N,12158.47078,W,1,09,1.1,-1.06,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202222.80,3648.8594,N,-12158.4707,W,1,03,00.5,083.5,M,-99.9,M,,*47 : Estimated North Bias at time = 2230.00 : 33.16 : Estimated East Bias at time = 2230.00 : 38.38 : Estimated Depth Bias at time = 2230.00 : -0.92 : Estimated northing and easting = 4074798.33 : 591504.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202223.00,3648.85942,N,12158.47001,W,1,09,1.1,-0.77,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202223.80,3648.8594,N,-12158.4699,W,1,03,00.5,084.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202224.00,3648.85930,N,12158.46939,W,1,09,1.1,-1.42,M,-32.96,M,,*7A : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202224.80,3648.8593,N,-12158.4692,W,1,03,00.5,082.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202225.00,3648.85931,N,12158.46906,W,1,09,1.1,-1.92,M,-32.96,M,,*7B : NMEA Update: $GPGGA,202225.80,3648.8593,N,-12158.4690,W,1,03,00.5,082.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202226.00,3648.85916,N,12158.46889,W,1,09,1.1,-2.74,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2234.996892 : TerrainNav update at dvl time = 2234.996892 : _navData-> (x,y) = (4074765.08, 591469.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202226.80,3648.8591,N,-12158.4688,W,1,03,00.5,082.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202227.00,3648.85921,N,12158.46886,W,1,09,1.1,-3.43,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202227.80,3648.8592,N,-12158.4689,W,1,03,00.5,081.5,M,-99.9,M,,*41 : Estimated North Bias at time = 2235.00 : 33.92 : Estimated East Bias at time = 2235.00 : 39.36 : Estimated Depth Bias at time = 2235.00 : -0.92 : Estimated northing and easting = 4074798.99 : 591508.82 : AshtechGps::processRecord() - $GPGGA,202228.00,3648.85905,N,12158.46922,W,1,09,1.1,-3.72,M,-32.96,M,,*7B : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202228.80,3648.8591,N,-12158.4693,W,1,03,00.5,079.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,202229.00,3648.85924,N,12158.46953,W,1,09,1.1,-3.59,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202229.80,3648.8592,N,-12158.4696,W,1,03,00.5,081.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202230.00,3648.85912,N,12158.46981,W,1,09,1.1,-2.87,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202230.80,3648.8591,N,-12158.4699,W,1,03,00.5,081.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202231.00,3648.85930,N,12158.46965,W,1,09,1.1,-2.45,M,-32.96,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2239.996550 : TerrainNav update at dvl time = 2239.996550 : _navData-> (x,y) = (4074765.34, 591468.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202231.80,3648.8593,N,-12158.4696,W,1,03,00.5,081.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202232.00,3648.85924,N,12158.46947,W,1,09,1.1,-1.67,M,-32.96,M,,*76 : NMEA Update: $GPGGA,202232.80,3648.8592,N,-12158.4694,W,1,03,00.5,081.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202233.00,3648.85937,N,12158.46890,W,1,09,1.1,-1.21,M,-32.96,M,,*7C : Estimated North Bias at time = 2240.00 : 33.90 : Estimated East Bias at time = 2240.00 : 39.36 : Estimated Depth Bias at time = 2240.00 : -0.92 : Estimated northing and easting = 4074799.24 : 591507.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202233.80,3648.8594,N,-12158.4688,W,1,03,00.5,082.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202234.00,3648.85933,N,12158.46833,W,1,09,1.1,-1.56,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202234.80,3648.8594,N,-12158.4682,W,1,03,00.5,085.3,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202235.00,3648.85924,N,12158.46801,W,1,09,1.1,-1.91,M,-32.96,M,,*7B : NMEA Update: $GPGGA,202235.80,3648.8592,N,-12158.4679,W,1,03,00.5,083.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202236.00,3648.85942,N,12158.46777,W,1,09,1.1,-2.40,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2244.996207 : TerrainNav update at dvl time = 2244.996207 : _navData-> (x,y) = (4074765.55, 591471.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202236.80,3648.8595,N,-12158.4677,W,1,03,00.5,084.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202237.00,3648.85937,N,12158.46787,W,1,09,1.1,-2.53,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 2245.00 : 33.51 : Estimated East Bias at time = 2245.00 : 37.35 : Estimated Depth Bias at time = 2245.00 : -0.92 : Estimated northing and easting = 4074799.06 : 591508.46 : NMEA Update: $GPGGA,202237.80,3648.8594,N,-12158.4679,W,1,03,00.5,084.9,M,-99.9,M,,*40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202238.00,3648.85964,N,12158.46777,W,1,09,1.1,-2.17,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202238.80,3648.8597,N,-12158.4678,W,1,03,00.5,083.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202239.00,3648.85960,N,12158.46757,W,1,09,1.1,-2.08,M,-32.96,M,,*78 : NMEA Update: $GPGGA,202239.80,3648.8596,N,-12158.4675,W,1,03,00.5,080.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202240.00,3648.85978,N,12158.46736,W,1,09,1.1,-2.26,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202240.80,3648.8598,N,-12158.4673,W,1,03,00.5,081.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202241.00,3648.85968,N,12158.46722,W,1,09,1.1,-2.42,M,-32.96,M,,*73 : TerrainNav update at nav time = 2249.995865 : TerrainNav update at dvl time = 2249.995865 : _navData-> (x,y) = (4074766.12, 591471.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202241.80,3648.8597,N,-12158.4672,W,1,03,00.5,082.7,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202242.00,3648.85972,N,12158.46702,W,1,09,1.1,-2.76,M,-32.96,M,,*7E : NMEA Update: $GPGGA,202242.80,3648.8597,N,-12158.4670,W,1,03,00.5,081.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202243.00,3648.85980,N,12158.46704,W,1,09,1.1,-3.10,M,-32.96,M,,*75 : Estimated North Bias at time = 2250.00 : 33.92 : Estimated East Bias at time = 2250.00 : 39.35 : Estimated Depth Bias at time = 2250.00 : -0.92 : Estimated northing and easting = 4074800.04 : 591511.25 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202243.80,3648.8598,N,-12158.4671,W,1,03,00.5,080.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202244.00,3648.85969,N,12158.46725,W,1,09,1.1,-2.87,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202244.80,3648.8597,N,-12158.4673,W,1,03,00.5,082.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202245.00,3648.85972,N,12158.46720,W,1,09,1.1,-2.60,M,-32.96,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202245.80,3648.8597,N,-12158.4672,W,1,03,00.5,081.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,202246.00,3648.85969,N,12158.46705,W,1,09,1.1,-2.34,M,-32.96,M,,*71 : TerrainNav update at nav time = 2254.995522 : TerrainNav update at dvl time = 2254.995522 : _navData-> (x,y) = (4074766.10, 591472.14) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202246.80,3648.8597,N,-12158.4670,W,1,03,00.5,080.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,202247.00,3648.85979,N,12158.46676,W,1,09,1.1,-2.27,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202247.80,3648.8598,N,-12158.4667,W,1,03,00.5,081.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202248.00,3648.85985,N,12158.46655,W,1,09,1.1,-2.17,M,-32.96,M,,*78 : Estimated North Bias at time = 2255.00 : 33.92 : Estimated East Bias at time = 2255.00 : 39.29 : Estimated Depth Bias at time = 2255.00 : -0.92 : Estimated northing and easting = 4074800.01 : 591511.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202248.80,3648.8599,N,-12158.4665,W,1,03,00.5,083.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202249.00,3648.85982,N,12158.46621,W,1,09,1.1,-1.94,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202249.80,3648.8598,N,-12158.4661,W,1,03,00.5,082.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202250.00,3648.85987,N,12158.46574,W,1,09,1.1,-2.06,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202250.80,3648.8599,N,-12158.4656,W,1,03,00.5,081.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202251.00,3648.85978,N,12158.46546,W,1,09,1.1,-2.28,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2259.995180 : TerrainNav update at dvl time = 2259.995180 : _navData-> (x,y) = (4074766.31, 591474.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202251.80,3648.8598,N,-12158.4654,W,1,03,00.5,083.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202252.00,3648.85990,N,12158.46515,W,1,09,1.1,-2.93,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202252.80,3648.8599,N,-12158.4651,W,1,03,00.5,081.1,M,-99.9,M,,*49 : Estimated North Bias at time = 2260.00 : 33.92 : Estimated East Bias at time = 2260.00 : 39.33 : Estimated Depth Bias at time = 2260.00 : -0.92 : Estimated northing and easting = 4074800.23 : 591513.92 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202253.00,3648.85997,N,12158.46528,W,1,09,1.1,-3.39,M,-32.96,M,,*75 : NMEA Update: $GPGGA,202253.80,3648.8600,N,-12158.4653,W,1,03,00.5,080.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,202254.00,3648.86015,N,12158.46557,W,1,09,1.1,-3.17,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202254.80,3648.8602,N,-12158.4656,W,1,03,00.5,080.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202255.00,3648.86031,N,12158.46579,W,1,09,1.1,-3.04,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202255.80,3648.8603,N,-12158.4658,W,1,03,00.5,082.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202256.00,3648.86042,N,12158.46587,W,1,09,1.1,-2.34,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 2264.994837 : TerrainNav update at dvl time = 2264.994837 : _navData-> (x,y) = (4074767.49, 591473.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202256.80,3648.8604,N,-12158.4659,W,1,03,00.5,081.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202257.00,3648.86041,N,12158.46563,W,1,09,1.1,-1.56,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202257.80,3648.8604,N,-12158.4656,W,1,03,00.5,082.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,202258.00,3648.86052,N,12158.46484,W,1,09,1.1,-0.93,M,-32.96,M,,*79 : Estimated North Bias at time = 2264.99 : 34.63 : Estimated East Bias at time = 2264.99 : 41.01 : Estimated Depth Bias at time = 2264.99 : -0.91 : Estimated northing and easting = 4074802.12 : 591514.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202258.80,3648.8605,N,-12158.4647,W,1,03,00.5,085.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,202259.00,3648.86048,N,12158.46412,W,1,09,1.1,-1.24,M,-32.96,M,,*71 : NMEA Update: $GPGGA,202259.80,3648.8605,N,-12158.4639,W,1,03,00.5,081.6,M,-99.9,M,,*4d : 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,202300.00,3648.86038,N,12158.46363,W,1,09,1.1,-2.09,M,-32.96,M,,*76 : NMEA Update: $GPGGA,202300.81,3648.8604,N,-12158.4636,W,1,03,00.5,081.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202301.00,3648.86046,N,12158.46345,W,1,09,1.1,-2.50,M,-32.96,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2269.994495 : TerrainNav update at dvl time = 2269.994495 : _navData-> (x,y) = (4074767.53, 591477.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202301.81,3648.8605,N,-12158.4634,W,1,03,00.5,081.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,202302.00,3648.86046,N,12158.46357,W,1,09,1.1,-3.05,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202302.81,3648.8605,N,-12158.4636,W,1,03,00.5,081.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,202303.00,3648.86044,N,12158.46373,W,1,09,1.1,-3.22,M,-32.96,M,,*77 : Estimated North Bias at time = 2269.99 : 34.62 : Estimated East Bias at time = 2269.99 : 41.07 : Estimated Depth Bias at time = 2269.99 : -0.91 : Estimated northing and easting = 4074802.15 : 591518.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202303.81,3648.8605,N,-12158.4638,W,1,03,00.5,081.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,202304.00,3648.86028,N,12158.46395,W,1,09,1.1,-3.06,M,-32.96,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202304.81,3648.8603,N,-12158.4640,W,1,03,00.5,080.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202305.00,3648.86022,N,12158.46414,W,1,09,1.1,-2.87,M,-32.96,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202305.81,3648.8602,N,-12158.4642,W,1,03,00.5,082.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,202306.00,3648.86029,N,12158.46390,W,1,09,1.1,-2.13,M,-32.96,M,,*77 : TerrainNav update at nav time = 2274.994152 : TerrainNav update at dvl time = 2274.994152 : _navData-> (x,y) = (4074767.23, 591476.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202306.81,3648.8603,N,-12158.4638,W,1,03,00.5,082.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,202307.00,3648.86042,N,12158.46342,W,1,09,1.1,-2.23,M,-32.96,M,,*77 : NMEA Update: $GPGGA,202307.81,3648.8605,N,-12158.4633,W,1,03,00.5,081.9,M,-99.9,M,,*43 : Estimated North Bias at time = 2274.99 : 34.85 : Estimated East Bias at time = 2274.99 : 41.53 : Estimated Depth Bias at time = 2274.99 : -0.91 : Estimated northing and easting = 4074802.08 : 591518.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,202308.00,3648.86044,N,12158.46324,W,1,09,1.1,-2.51,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202308.81,3648.8605,N,-12158.4632,W,1,03,00.5,082.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,202309.00,3648.86054,N,12158.46307,W,1,09,1.1,-2.79,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202309.81,3648.8605,N,-12158.4631,W,1,03,00.5,080.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,202310.00,3648.86061,N,12158.46298,W,1,10,1.0,-2.28,M,-32.96,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,202310.81,3648.8606,N,-12158.4630,W,1,03,00.5,081.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,202311.00,3648.86065,N,12158.46276,W,1,10,1.0,-2.42,M,-32.96,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2279.993810 : TerrainNav update at dvl time = 2279.993810 : _navData-> (x,y) = (4074767.96, 591478.50) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,202311.81,3648.8606,N,-12158.4627,W,1,03,00.5,081.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,202312.00,3648.86071,N,12158.46262,W,1,10,1.0,-2.07,M,-32.96,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,202312.81,3648.8607,N,-12158.4626,W,1,03,00.5,080.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,202313.00,3648.86079,N,12158.46246,W,1,10,1.0,-1.53,M,-32.96,M,,*72 : Estimated North Bias at time = 2279.99 : 34.85 : Estimated East Bias at time = 2279.99 : 41.52 : Estimated Depth Bias at time = 2279.99 : -0.91 : Estimated northing and easting = 4074802.81 : 591520.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,202313.81,3648.8608,N,-12158.4624,W,1,03,00.5,083.4,M,-99.9,M,,*42 : Supervisor::signalHandler(); caught signal 15 : Supervisor::signalHandler(); Received a SIGTERM or SIGQUIT. DropWeightServer NOT started. : Supervisor::cleanup() - delete _theSupervisor : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:000433E0. : StepGetStat(2): checksum error : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : Supervisor::shutdown() - done() : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : CameraDestructor Executing. : DropWeight Destructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object TerrainAidOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object dropWeightOutput **** : TerrainAidDestructor Executing. : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object BenthosModemOutout **** : SerialDeviceExt::closeSD() - closed : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object TerrainAidOutput **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F. : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 5d 5d 00 00 05 00 00 : StepGetStat (3) failed to read chars, rcvd=2, want=8 : StepGetStat (3) 18 18 00 00 05 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****