Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConf: Initializing worksiteServer iguration: WorkSite::WorkSite -- Adding attributes Ser: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg ver Supervisor::createTask() - externalComms: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" Server Supervisor::createTask() - navigation: WorkSite::WorkSite -- Finished loading parameters Ser: WorkSite::WorkSite -- Starting Depth is 0.000000 meters ver: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 S: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 uper: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 viso: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 r::: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 crea: WorkSite server: 0x2300c teTask() - layeredContr: New Navigation component constructor olS: Navigation - Using only the Dvl to compute altitude. e: Navigation: Opening Acoustic Modem Interface: rver Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - paro: SerialDevice: done... s: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ciS: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts erv: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : Preparing to fork er : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts Sup: I'm the child...forking er: SerialDevice: done... visor::c: SerialDevice: done... reateTask() - dvlServer Supervisor::c: SerialDevice: done... reateT: SerialDevice: done... ask() - dropWeightServer Superviso: Gps: initializing r: SerialDevice: done... ::: SerialDevice: done... c: SerialDevice: done... reateTask() - : SerialDevice: done... sonard: Crossbow.cc: In getSerialNumber() yneServer Supe: SerialDevice: done... rvisor::c: SerialDevice: done... reateTask() - cameraServer Supervisor:: SerialDevice: done... :creat: SonardyneServer.cc was last compiled on Oct 13 2009, 21:23:08 eTask() - echoSounderServer: DropWeight::initialize - Resetting counters. S: **** EventTriggers::add() - attaching proxy upervisor::createTask: SerialDevice: done... () - benthosServer Supe: SerialDevice: done... rvisor::crea: SonardyneDriver.cc was last compiled on Oct 13 2009, 21:23:04 : SerialDeviceDriver::initialize() teTask(: Starting DVL Initialization. ) - t: SerialDevice: done... errainAidSe: CameraDriver:: Before navigation IF. rver : Navigation: acommsIF = 0x6fa78 : ahrs if is Ahrs : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1490.000000 m/s Beacon = V4,5 MRPL = 2 ms : BenthosModem::commandMode() - confirming... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : EchoSounder -- configuration: Maximum Range = 100 m StartGain = 20 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 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.00 > : TE00:00:00.60 > : BL,10,010,100 > : NMEA Update: $GPGGA,203425.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : 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 : header is >CS 7 : Dvl record header not found. Resynchronize. : SerialDevice: done... : 3 Modules found : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,203426.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - ,3648.86945,N,12158.36166,W,1,10,1.0,-3.08,M,-32.96,M,,*7E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,203427.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,203427.00,3648.86951,N,12158.36161,W,1,10,1.0,-2.87,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = 0.00 : NMEA Update: $GPGGA,203428.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,203428.00,3648.86943,N,12158.36150,W,1,10,1.0,-2.51,M,-32.96,M,,*7E : NMEA Update: $GPGGA,203429.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : AshtechGps::processRecord() - $GPGGA,203429.00,3648.86939,N,12158.36119,W,1,10,1.0,-2.06,M,-32.96,M,,*7D : SerialDevice::confirm() - Timed Out : BenthosModem::commandMode() - no prompt after +++ : BenthosModem::commandMode() - trying EOL... : BenthosModem::commandMode() - confirming... : Set verbose level : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : TerrainAid -- configuration: : NMEA Update: $GPGGA,203430.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : 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 : AshtechGps::processRecord() - $GPGGA,203430.00,3648.86944,N,12158.36070,W,1,10,1.0,-1.67,M,-32.96,M,,*75 : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : Reson configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/resonSeabat8101_specs.cfg : Map file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/SoquelCanyonMAUVUTMTopo_NoNan.grd : TerrainAidDriver:: RollOffset is 0.00 : Set write delay : Set remote response waiting time : Turn on doppler correction : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203431.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,203431.00,3648.86943,N,12158.36014,W,1,10,1.0,-1.72,M,-32.96,M,,*75 : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : NMEA Update: $GPGGA,203432.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,203432.00,3648.86970,N,12158.35976,W,1,10,1.0,-2.22,M,-32.96,M,,*7E : Parosci.cc -- Initial pressure = 1.103162 : Parosci.cc -- Parosci initial pressure period = 30.138470 : Parosci.cc -- Parosci initial temp period = 5.841678 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,203433.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,203433.00,3648.86988,N,12158.35959,W,1,10,1.0,-2.76,M,-32.96,M,,*74 : NMEA Update: $GPGGA,203434.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,203434.00,3648.87001,N,12158.35967,W,1,10,1.0,-3.14,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203435.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,203435.00,3648.87017,N,12158.35982,W,1,10,1.0,-3.28,M,-32.96,M,,*70 : NMEA Update: $GPGGA,203436.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,203436.00,3648.87024,N,12158.35999,W,1,10,1.0,-2.95,M,-32.96,M,,*7E : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : NMEA Update: $GPGGA,203437.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,203437.00,3648.87024,N,12158.35992,W,1,10,1.0,-2.36,M,-32.96,M,,*7D : NMEA Update: $GPGGA,203438.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203438.00,3648.87010,N,12158.35960,W,1,10,1.0,-2.16,M,-32.96,M,,*7A : NMEA Update: $GPGGA,203439.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5a : AshtechGps::processRecord() - $GPGGA,203439.00,3648.87021,N,12158.35931,W,1,10,1.0,-2.02,M,-32.96,M,,*78 : NMEA Update: $GPGGA,203440.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,203440.00,3648.87016,N,12158.35886,W,1,10,1.0,-1.99,M,-32.96,M,,*7E : NMEA Update: $GPGGA,203441.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,203441.00,3648.87032,N,12158.35848,W,1,10,1.0,-2.66,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203442.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,203442.00,3648.87037,N,12158.35832,W,1,10,1.0,-3.23,M,-32.96,M,,*73 : NMEA Update: $GPGGA,203443.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,203443.00,3648.87056,N,12158.35846,W,1,10,1.0,-3.44,M,-32.96,M,,*77 : NMEA Update: $GPGGA,203444.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,203444.00,3648.87048,N,12158.35857,W,1,10,1.0,-3.32,M,-32.96,M,,*7E : NMEA Update: $GPGGA,203445.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,203445.00,3648.87043,N,12158.35852,W,1,10,1.0,-3.13,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203446.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,203446.00,3648.87049,N,12158.35848,W,1,10,1.0,-3.09,M,-32.96,M,,*7B : 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,203447.09,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,203447.00,3648.87036,N,12158.35838,W,1,10,1.0,-2.97,M,-32.96,M,,*73 : **** 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 *** : NMEA Update: $GPGGA,203448.09,3648.8703,N,-12158.3584,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,203448.00,3648.87044,N,12158.35830,W,1,10,1.0,-2.84,M,-32.96,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203449.09,3648.8705,N,-12158.3583,W,1,03,00.5,079.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203449.00,3648.87057,N,12158.35825,W,1,10,1.0,-2.69,M,-32.96,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,203450.09,3648.8706,N,-12158.3582,W,1,03,00.5,079.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203450.00,3648.87075,N,12158.35811,W,1,10,1.0,-2.30,M,-32.96,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : NMEA Update: $GPGGA,203451.09,3648.8708,N,-12158.3581,W,1,03,00.5,080.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203451.00,3648.87077,N,12158.35775,W,1,10,1.0,-2.28,M,-32.96,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,203452.09,3648.8708,N,-12158.3577,W,1,03,00.5,080.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203452.00,3648.87087,N,12158.35741,W,1,10,1.0,-2.25,M,-32.96,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,203453.09,3648.8709,N,-12158.3574,W,1,03,00.5,080.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203453.00,3648.87097,N,12158.35706,W,1,10,1.0,-2.25,M,-32.96,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : NMEA Update: $GPGGA,203454.09,3648.8710,N,-12158.3570,W,1,03,00.5,080.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,203454.00,3648.87098,N,12158.35678,W,1,10,1.0,-2.69,M,-32.96,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : NMEA Update: $GPGGA,203455.09,3648.8710,N,-12158.3568,W,1,03,00.5,078.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203455.00,3648.87122,N,12158.35673,W,1,10,1.0,-2.81,M,-32.96,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203456.09,3648.8712,N,-12158.3568,W,1,03,00.5,079.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203456.00,3648.87120,N,12158.35671,W,1,10,1.0,-2.64,M,-32.96,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.999383) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.999383) Behavior setpoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203457.09,3648.8712,N,-12158.3567,W,1,03,00.5,082.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203457.00,3648.87145,N,12158.35659,W,1,10,1.0,-2.82,M,-32.96,M,,*7A : NMEA Update: $GPGGA,203458.09,3648.8715,N,-12158.3566,W,1,03,00.5,080.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203458.00,3648.87137,N,12158.35648,W,1,10,1.0,-3.05,M,-32.96,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203459.09,3648.8714,N,-12158.3564,W,1,03,00.5,080.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203459.00,3648.87144,N,12158.35635,W,1,10,1.0,-3.24,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203500.09,3648.8714,N,-12158.3564,W,1,03,00.5,080.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203500.00,3648.87127,N,12158.35635,W,1,10,1.0,-3.05,M,-32.96,M,,*79 : NMEA Update: $GPGGA,203501.09,3648.8712,N,-12158.3563,W,1,03,00.5,079.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203501.00,3648.87126,N,12158.35608,W,1,10,1.0,-2.79,M,-32.96,M,,*7D : NMEA Update: $GPGGA,203502.09,3648.8712,N,-12158.3560,W,1,03,00.5,081.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203502.00,3648.87112,N,12158.35576,W,1,10,1.0,-2.98,M,-32.96,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203503.09,3648.8711,N,-12158.3557,W,1,03,00.5,080.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203503.00,3648.87108,N,12158.35554,W,1,10,1.0,-2.73,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203504.09,3648.8711,N,-12158.3555,W,1,03,00.5,080.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203504.00,3648.87109,N,12158.35512,W,1,10,1.0,-2.50,M,-32.96,M,,*76 : NMEA Update: $GPGGA,203505.09,3648.8711,N,-12158.3550,W,1,03,00.5,080.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203505.00,3648.87111,N,12158.35468,W,1,10,1.0,-2.74,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,203506.09,3648.8711,N,-12158.3546,W,1,03,00.5,079.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203506.00,3648.87112,N,12158.35424,W,1,10,1.0,-2.48,M,-32.96,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203507.09,3648.8711,N,-12158.3542,W,1,03,00.5,080.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203507.00,3648.87097,N,12158.35383,W,1,10,1.0,-2.61,M,-32.96,M,,*7F : NMEA Update: $GPGGA,203508.09,3648.8709,N,-12158.3537,W,1,03,00.5,079.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203508.00,3648.87082,N,12158.35333,W,1,10,1.0,-2.59,M,-32.96,M,,*74 : NMEA Update: $GPGGA,203509.09,3648.8708,N,-12158.3533,W,1,03,00.5,080.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203509.00,3648.87073,N,12158.35278,W,1,10,1.0,-2.13,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203510.09,3648.8707,N,-12158.3527,W,1,03,00.5,080.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203510.00,3648.87064,N,12158.35210,W,1,10,1.0,-2.13,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203511.09,3648.8706,N,-12158.3520,W,1,03,00.5,080.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203511.00,3648.87047,N,12158.35148,W,1,10,1.0,-2.28,M,-32.96,M,,*7D : NMEA Update: $GPGGA,203512.09,3648.8704,N,-12158.3514,W,1,03,00.5,080.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203512.00,3648.87032,N,12158.35083,W,1,10,1.0,-2.65,M,-32.96,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203513.09,3648.8703,N,-12158.3507,W,1,03,00.5,080.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203513.00,3648.86997,N,12158.35048,W,1,10,1.0,-3.32,M,-32.96,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203514.09,3648.8699,N,-12158.3504,W,1,03,00.5,078.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203514.00,3648.86973,N,12158.35001,W,1,10,1.0,-2.97,M,-32.96,M,,*7F : NMEA Update: $GPGGA,203515.09,3648.8697,N,-12158.3499,W,1,03,00.5,080.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203515.00,3648.86936,N,12158.34956,W,1,10,1.0,-2.89,M,-32.96,M,,*7A : NMEA Update: $GPGGA,203516.09,3648.8693,N,-12158.3495,W,1,03,00.5,080.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203516.00,3648.86902,N,12158.34914,W,1,10,1.0,-2.79,M,-32.96,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203517.09,3648.8689,N,-12158.3491,W,1,03,00.5,079.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203517.00,3648.86857,N,12158.34866,W,1,10,1.0,-2.54,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203518.09,3648.8684,N,-12158.3486,W,1,03,00.5,083.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203518.00,3648.86802,N,12158.34812,W,1,10,1.0,-3.08,M,-32.96,M,,*78 : NMEA Update: $GPGGA,203519.09,3648.8679,N,-12158.3480,W,1,03,00.5,079.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203519.00,3648.86747,N,12158.34745,W,1,10,1.0,-3.64,M,-32.96,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203520.00,,,,,0,05,2.3,,M,,M,,*64 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203520.09,3648.8673,N,-12158.3472,W,1,03,00.5,079.8,M,-99.9,M,,*46 : 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,203521.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203521.09,3648.8669,N,-12158.3470,W,1,03,00.5,077.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203522.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203522.09,3648.8666,N,-12158.3467,W,1,03,00.5,080.5,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,203523.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203523.09,3648.8661,N,-12158.3462,W,1,03,00.5,079.5,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,203524.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203524.09,3648.8656,N,-12158.3457,W,1,03,00.5,080.2,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,203525.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203525.09,3648.8651,N,-12158.3451,W,1,03,00.5,079.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203526.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203526.09,3648.8645,N,-12158.3446,W,1,03,00.5,080.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : LayeredControl::execute() -- (t = 39.197315) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 39.197315) Behavior descend:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,203527.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203527.09,3648.8637,N,-12158.3444,W,1,03,00.5,079.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203528.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203528.09,3648.8630,N,-12158.3442,W,1,03,00.5,079.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203529.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203529.09,3648.8624,N,-12158.3441,W,1,03,00.5,077.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203530.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203530.09,3648.8619,N,-12158.3442,W,1,03,00.5,077.8,M,-99.9,M,,*46 : PeriodicTask::run() (terrainAidDriver) - sampleInterval=5000, maxInterval=5000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203531.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203531.09,3648.8612,N,-12158.3443,W,1,03,00.5,075.2,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203532.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203532.09,3648.8607,N,-12158.3444,W,1,03,00.5,075.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203533.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203533.09,3648.8602,N,-12158.3447,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203534.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203534.09,3648.8596,N,-12158.3450,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203535.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203535.09,3648.8591,N,-12158.3451,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainAidDriver:: _navTime0 = 1256070935.08 : TerrainAidDriver:: _dvlTime0 = 74134.17 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074766.79, 591653.22) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -0.57 : Estimated East Bias at time = 0.00 : -0.03 : Estimated Depth Bias at time = 0.00 : 0.01 : Estimated northing and easting = 4074766.22 : 591653.19 : AshtechGps::processRecord() - $GPGGA,203536.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203536.09,3648.8586,N,-12158.3456,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203537.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203537.09,3648.8582,N,-12158.3460,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203538.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203538.09,3648.8578,N,-12158.3466,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203539.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203539.09,3648.8576,N,-12158.3474,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,203540.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203540.09,3648.8574,N,-12158.3482,W,1,03,00.5,077.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 4.999658 : TerrainNav update at dvl time = 4.999658 : _navData-> (x,y) = (4074763.77, 591648.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203541.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203541.09,3648.8573,N,-12158.3490,W,1,03,00.5,076.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203542.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203542.09,3648.8572,N,-12158.3495,W,1,03,00.5,075.6,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203543.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203543.09,3648.8571,N,-12158.3499,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 : Estimated North Bias at time = 5.00 : -10.73 : Estimated East Bias at time = 5.00 : -3.12 : Estimated Depth Bias at time = 5.00 : 0.01 : Estimated northing and easting = 4074753.04 : 591645.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203544.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203544.09,3648.8570,N,-12158.3503,W,1,03,00.5,075.6,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,203545.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203545.09,3648.8571,N,-12158.3509,W,1,03,00.5,075.0,M,-99.9,M,,*4d : TerrainNav update at nav time = 9.999315 : TerrainNav update at dvl time = 9.999315 : _navData-> (x,y) = (4074763.15, 591644.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203546.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203546.09,3648.8571,N,-12158.3516,W,1,03,00.5,074.2,M,-99.9,M,,*43 : Estimated North Bias at time = 10.00 : -10.23 : Estimated East Bias at time = 10.00 : -3.24 : Estimated Depth Bias at time = 10.00 : -0.02 : Estimated northing and easting = 4074752.92 : 591641.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203547.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203547.09,3648.8572,N,-12158.3525,W,1,03,00.5,073.2,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,203548.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203548.09,3648.8572,N,-12158.3534,W,1,03,00.5,072.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203549.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203549.09,3648.8572,N,-12158.3542,W,1,03,00.5,072.7,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203550.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203550.09,3648.8572,N,-12158.3549,W,1,03,00.5,072.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 14.998973 : TerrainNav update at dvl time = 14.998973 : _navData-> (x,y) = (4074763.31, 591638.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203551.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203551.09,3648.8572,N,-12158.3557,W,1,03,00.5,071.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 15.00 : -10.16 : Estimated East Bias at time = 15.00 : -3.76 : Estimated Depth Bias at time = 15.00 : -0.06 : Estimated northing and easting = 4074753.16 : 591634.91 : AshtechGps::processRecord() - $GPGGA,203552.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203552.09,3648.8572,N,-12158.3565,W,1,03,00.5,070.6,M,-99.9,M,,*41 : 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,203553.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203553.09,3648.8572,N,-12158.3573,W,1,03,00.5,070.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203554.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203554.09,3648.8571,N,-12158.3580,W,1,03,00.5,070.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203555.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203555.09,3648.8571,N,-12158.3588,W,1,03,00.5,068.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 19.998630 : TerrainNav update at dvl time = 19.998630 : _navData-> (x,y) = (4074762.96, 591632.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203556.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203556.09,3648.8570,N,-12158.3595,W,1,03,00.5,067.6,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 20.00 : -8.98 : Estimated East Bias at time = 20.00 : -3.14 : Estimated Depth Bias at time = 20.00 : -0.07 : Estimated northing and easting = 4074753.98 : 591629.79 : AshtechGps::processRecord() - $GPGGA,203557.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203557.09,3648.8570,N,-12158.3603,W,1,03,00.5,068.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203558.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203558.09,3648.8570,N,-12158.3612,W,1,03,00.5,066.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203559.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203559.09,3648.8570,N,-12158.3620,W,1,03,00.5,067.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203600.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203600.09,3648.8570,N,-12158.3629,W,1,03,00.5,066.1,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 24.998288 : TerrainNav update at dvl time = 24.998288 : _navData-> (x,y) = (4074762.80, 591626.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203601.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203601.09,3648.8570,N,-12158.3638,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 25.00 : -7.96 : Estimated East Bias at time = 25.00 : -1.97 : Estimated Depth Bias at time = 25.00 : -0.04 : Estimated northing and easting = 4074754.84 : 591624.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,203602.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203602.09,3648.8569,N,-12158.3646,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203603.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203603.09,3648.8568,N,-12158.3654,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203604.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203604.09,3648.8568,N,-12158.3662,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203605.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203605.09,3648.8567,N,-12158.3671,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074762.20, 591620.55) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203606.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203606.08,3648.8566,N,-12158.3679,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : Estimated North Bias at time = 30.00 : -6.18 : Estimated East Bias at time = 30.00 : 0.13 : Estimated Depth Bias at time = 30.00 : -0.01 : Estimated northing and easting = 4074756.03 : 591620.68 : 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,203607.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203607.08,3648.8566,N,-12158.3688,W,1,03,00.5,061.5,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203608.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203608.08,3648.8565,N,-12158.3696,W,1,03,00.5,061.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203609.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203609.08,3648.8564,N,-12158.3704,W,1,03,00.5,060.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203610.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203610.08,3648.8563,N,-12158.3712,W,1,03,00.5,059.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 34.997602 : TerrainNav update at dvl time = 34.997602 : _navData-> (x,y) = (4074761.27, 591614.43) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203611.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203611.08,3648.8562,N,-12158.3720,W,1,03,00.5,059.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 35.00 : 3.40 : Estimated East Bias at time = 35.00 : 0.54 : Estimated Depth Bias at time = 35.00 : 0.03 : Estimated northing and easting = 4074764.67 : 591614.97 : AshtechGps::processRecord() - $GPGGA,203612.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203612.08,3648.8561,N,-12158.3729,W,1,03,00.5,059.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203613.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203613.08,3648.8560,N,-12158.3738,W,1,03,00.5,058.4,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,203614.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203614.08,3648.8560,N,-12158.3746,W,1,03,00.5,058.1,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203615.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203615.08,3648.8559,N,-12158.3754,W,1,03,00.5,058.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 39.997260 : TerrainNav update at dvl time = 39.997260 : _navData-> (x,y) = (4074760.44, 591608.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203616.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203616.08,3648.8558,N,-12158.3763,W,1,03,00.5,057.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.52 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 40.00 : 5.82 : Estimated East Bias at time = 40.00 : 1.82 : Estimated Depth Bias at time = 40.00 : 0.05 : Estimated northing and easting = 4074766.26 : 591609.94 : AshtechGps::processRecord() - $GPGGA,203617.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203617.08,3648.8557,N,-12158.3771,W,1,03,00.5,057.3,M,-99.9,M,,*42 : Descend::execute() - Descend terminating on depth 27.383384 > 27.000000 at time 90.593794 : LayeredControl::execute() -- (t = 90.593794) Behavior descend:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 90.59 (wplog) The current location (N,E) = 4074759.9 , 591604.9 (wplog) The next waypoint = 4074786.1 , 591284.1 (wplog) The bearing to the next w.p. is 274.7 Degrees. : LayeredControl::execute() -- (t = 90.593794) Behavior waypoint:-1 has changed to state Active : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203618.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203618.08,3648.8556,N,-12158.3780,W,1,03,00.5,056.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203619.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203619.08,3648.8555,N,-12158.3788,W,1,03,00.5,056.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203620.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203620.08,3648.8554,N,-12158.3797,W,1,03,00.5,055.7,M,-99.9,M,,*4b : TerrainNav update at nav time = 44.996917 : TerrainNav update at dvl time = 44.996917 : _navData-> (x,y) = (4074759.49, 591601.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203621.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203621.08,3648.8553,N,-12158.3807,W,1,03,00.5,055.0,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 45.00 : 10.81 : Estimated East Bias at time = 45.00 : 3.53 : Estimated Depth Bias at time = 45.00 : 0.08 : Estimated northing and easting = 4074770.31 : 591605.24 : AshtechGps::processRecord() - $GPGGA,203622.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203622.08,3648.8553,N,-12158.3817,W,1,03,00.5,054.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203623.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203623.08,3648.8554,N,-12158.3827,W,1,03,00.5,052.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203624.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203624.08,3648.8555,N,-12158.3838,W,1,03,00.5,053.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203625.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203625.08,3648.8556,N,-12158.3849,W,1,03,00.5,053.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 49.996575 : TerrainNav update at dvl time = 49.996575 : _navData-> (x,y) = (4074759.92, 591594.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203626.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203626.08,3648.8557,N,-12158.3859,W,1,03,00.5,052.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 50.00 : 8.80 : Estimated East Bias at time = 50.00 : 10.73 : Estimated Depth Bias at time = 50.00 : 0.08 : Estimated northing and easting = 4074768.72 : 591604.78 : AshtechGps::processRecord() - $GPGGA,203627.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203627.08,3648.8558,N,-12158.3869,W,1,03,00.5,053.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203628.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203628.08,3648.8560,N,-12158.3878,W,1,03,00.5,053.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203629.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203629.08,3648.8561,N,-12158.3888,W,1,03,00.5,054.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203630.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203630.08,3648.8562,N,-12158.3898,W,1,03,00.5,054.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 54.996233 : TerrainNav update at dvl time = 54.996233 : _navData-> (x,y) = (4074760.90, 591586.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203631.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203631.08,3648.8563,N,-12158.3908,W,1,03,00.5,054.2,M,-99.9,M,,*43 : Estimated North Bias at time = 55.00 : 7.23 : Estimated East Bias at time = 55.00 : 19.72 : Estimated Depth Bias at time = 55.00 : 0.03 : Estimated northing and easting = 4074768.13 : 591606.50 : AshtechGps::processRecord() - $GPGGA,203632.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203632.08,3648.8565,N,-12158.3918,W,1,03,00.5,053.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203633.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203633.08,3648.8566,N,-12158.3928,W,1,03,00.5,053.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203634.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203634.08,3648.8567,N,-12158.3938,W,1,03,00.5,052.9,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203635.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203635.08,3648.8568,N,-12158.3948,W,1,03,00.5,052.7,M,-99.9,M,,*4b : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4074761.92, 591579.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203636.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203636.08,3648.8568,N,-12158.3958,W,1,03,00.5,052.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 60.00 : 6.24 : Estimated East Bias at time = 60.00 : 22.82 : Estimated Depth Bias at time = 60.00 : 0.06 : Estimated northing and easting = 4074768.16 : 591602.06 : AshtechGps::processRecord() - $GPGGA,203637.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203637.08,3648.8569,N,-12158.3968,W,1,03,00.5,052.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203638.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203638.08,3648.8569,N,-12158.3977,W,1,03,00.5,052.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203639.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203639.08,3648.8570,N,-12158.3986,W,1,03,00.5,051.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203640.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203640.08,3648.8570,N,-12158.3995,W,1,03,00.5,051.9,M,-99.9,M,,*4d : TerrainNav update at nav time = 64.995548 : TerrainNav update at dvl time = 64.995548 : _navData-> (x,y) = (4074762.13, 591572.36) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203641.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203641.08,3648.8570,N,-12158.4003,W,1,03,00.5,050.8,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 65.00 : 7.21 : Estimated East Bias at time = 65.00 : 21.48 : Estimated Depth Bias at time = 65.00 : 0.03 : Estimated northing and easting = 4074769.34 : 591593.84 : AshtechGps::processRecord() - $GPGGA,203642.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203642.08,3648.8570,N,-12158.4012,W,1,03,00.5,050.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203643.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203643.08,3648.8572,N,-12158.4022,W,1,03,00.5,050.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203644.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203644.08,3648.8573,N,-12158.4031,W,1,03,00.5,050.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203645.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203645.08,3648.8575,N,-12158.4041,W,1,03,00.5,050.2,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 69.995205 : TerrainNav update at dvl time = 69.995205 : _navData-> (x,y) = (4074763.06, 591565.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,203646.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203646.08,3648.8576,N,-12158.4050,W,1,03,00.5,049.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 70.00 : 6.55 : Estimated East Bias at time = 70.00 : 24.33 : Estimated Depth Bias at time = 70.00 : 0.01 : Estimated northing and easting = 4074769.61 : 591589.83 : AshtechGps::processRecord() - $GPGGA,203647.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203647.08,3648.8578,N,-12158.4060,W,1,03,00.5,048.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203648.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203648.08,3648.8579,N,-12158.4069,W,1,03,00.5,047.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203649.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203649.08,3648.8580,N,-12158.4079,W,1,03,00.5,047.4,M,-99.9,M,,*4d : NMEA Update: $GPGGA,203649.89,3648.8581,N,-12158.4086,W,1,03,00.5,046.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203650.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 74.994863 : TerrainNav update at dvl time = 74.994863 : _navData-> (x,y) = (4074764.20, 591558.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203650.89,3648.8582,N,-12158.4096,W,1,03,00.5,047.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203651.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203651.89,3648.8584,N,-12158.4106,W,1,03,00.5,046.2,M,-99.9,M,,*47 : Estimated North Bias at time = 74.99 : 4.74 : Estimated East Bias at time = 74.99 : 31.28 : Estimated Depth Bias at time = 74.99 : -0.01 : Estimated northing and easting = 4074768.95 : 591589.70 : AshtechGps::processRecord() - $GPGGA,203652.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203652.89,3648.8585,N,-12158.4116,W,1,03,00.5,046.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203653.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203653.89,3648.8586,N,-12158.4127,W,1,03,00.5,045.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203654.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203654.89,3648.8586,N,-12158.4137,W,1,03,00.5,045.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203655.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 79.994520 : TerrainNav update at dvl time = 79.994520 : _navData-> (x,y) = (4074765.03, 591550.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203655.89,3648.8587,N,-12158.4147,W,1,03,00.5,045.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203656.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203656.89,3648.8588,N,-12158.4157,W,1,03,00.5,043.9,M,-99.9,M,,*46 : Estimated North Bias at time = 79.99 : 1.95 : Estimated East Bias at time = 79.99 : 37.60 : Estimated Depth Bias at time = 79.99 : 0.00 : Estimated northing and easting = 4074766.98 : 591588.46 : AshtechGps::processRecord() - $GPGGA,203657.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203657.89,3648.8588,N,-12158.4166,W,1,03,00.5,043.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203658.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203658.89,3648.8589,N,-12158.4176,W,1,03,00.5,044.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203659.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203659.89,3648.8590,N,-12158.4186,W,1,03,00.5,043.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203700.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 84.994178 : TerrainNav update at dvl time = 84.994178 : _navData-> (x,y) = (4074765.59, 591543.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203700.89,3648.8591,N,-12158.4196,W,1,03,00.5,042.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203701.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203701.89,3648.8592,N,-12158.4206,W,1,03,00.5,042.0,M,-99.9,M,,*41 : Estimated North Bias at time = 84.99 : 4.55 : Estimated East Bias at time = 84.99 : 33.51 : Estimated Depth Bias at time = 84.99 : -0.03 : Estimated northing and easting = 4074770.14 : 591577.12 : AshtechGps::processRecord() - $GPGGA,203702.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203702.89,3648.8593,N,-12158.4216,W,1,03,00.5,041.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203703.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203703.89,3648.8594,N,-12158.4225,W,1,03,00.5,041.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203704.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203704.89,3648.8595,N,-12158.4235,W,1,03,00.5,041.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203705.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4074766.43, 591536.28) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203705.89,3648.8595,N,-12158.4245,W,1,03,00.5,041.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203706.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203706.89,3648.8596,N,-12158.4255,W,1,03,00.5,040.1,M,-99.9,M,,*47 : Estimated North Bias at time = 89.99 : 5.66 : Estimated East Bias at time = 89.99 : 31.58 : Estimated Depth Bias at time = 89.99 : -0.03 : Estimated northing and easting = 4074772.08 : 591567.85 : AshtechGps::processRecord() - $GPGGA,203707.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203707.89,3648.8597,N,-12158.4265,W,1,03,00.5,039.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203708.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203708.89,3648.8597,N,-12158.4275,W,1,03,00.5,040.0,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203709.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203709.89,3648.8598,N,-12158.4285,W,1,03,00.5,039.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203710.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 94.993493 : TerrainNav update at dvl time = 94.993493 : _navData-> (x,y) = (4074766.93, 591528.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203710.89,3648.8598,N,-12158.4296,W,1,03,00.5,038.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203711.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 94.99 : 8.07 : Estimated East Bias at time = 94.99 : 27.66 : Estimated Depth Bias at time = 94.99 : -0.05 : Estimated northing and easting = 4074775.00 : 591556.41 : NMEA Update: $GPGGA,203711.89,3648.8599,N,-12158.4307,W,1,03,00.5,038.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203712.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203712.89,3648.8600,N,-12158.4317,W,1,03,00.5,038.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203713.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203713.89,3648.8600,N,-12158.4328,W,1,03,00.5,038.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203714.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203714.89,3648.8601,N,-12158.4339,W,1,03,00.5,037.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203715.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 100.003150 : TerrainNav update at dvl time = 100.003150 : _navData-> (x,y) = (4074767.44, 591520.75) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203715.89,3648.8602,N,-12158.4350,W,1,03,00.5,037.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203716.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 100.00 : 10.92 : Estimated East Bias at time = 100.00 : 27.79 : Estimated Depth Bias at time = 100.00 : -0.03 : Estimated northing and easting = 4074778.36 : 591548.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203716.89,3648.8603,N,-12158.4360,W,1,03,00.5,037.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203717.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203717.89,3648.8604,N,-12158.4371,W,1,03,00.5,037.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203718.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203718.89,3648.8605,N,-12158.4381,W,1,03,00.5,036.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203719.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203719.89,3648.8606,N,-12158.4392,W,1,03,00.5,037.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203720.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 105.002807 : TerrainNav update at dvl time = 105.002807 : _navData-> (x,y) = (4074768.21, 591512.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203720.89,3648.8607,N,-12158.4403,W,1,03,00.5,037.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203721.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 105.00 : 16.00 : Estimated East Bias at time = 105.00 : 18.98 : Estimated Depth Bias at time = 105.00 : -0.06 : Estimated northing and easting = 4074784.22 : 591531.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203721.89,3648.8607,N,-12158.4413,W,1,03,00.5,037.4,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203722.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203722.89,3648.8608,N,-12158.4424,W,1,03,00.5,036.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203723.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203723.89,3648.8609,N,-12158.4435,W,1,03,00.5,037.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203724.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203724.89,3648.8609,N,-12158.4446,W,1,03,00.5,037.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203725.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 110.002464 : TerrainNav update at dvl time = 110.002464 : _navData-> (x,y) = (4074768.80, 591504.76) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203725.89,3648.8610,N,-12158.4457,W,1,03,00.5,037.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203726.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203726.89,3648.8610,N,-12158.4469,W,1,03,00.5,036.9,M,-99.9,M,,*48 : Estimated North Bias at time = 110.00 : 19.15 : Estimated East Bias at time = 110.00 : 13.15 : Estimated Depth Bias at time = 110.00 : -0.08 : Estimated northing and easting = 4074787.95 : 591517.91 : AshtechGps::processRecord() - $GPGGA,203727.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203727.89,3648.8611,N,-12158.4480,W,1,03,00.5,036.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203728.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203728.89,3648.8611,N,-12158.4491,W,1,03,00.5,036.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203729.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203729.89,3648.8611,N,-12158.4502,W,1,03,00.5,037.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203730.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 115.002122 : TerrainNav update at dvl time = 115.002122 : _navData-> (x,y) = (4074769.04, 591496.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203730.89,3648.8612,N,-12158.4513,W,1,03,00.5,037.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203731.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 115.00 : 21.07 : Estimated East Bias at time = 115.00 : 9.48 : Estimated Depth Bias at time = 115.00 : -0.10 : NMEA Update: $GPGGA,203731.89,3648.8612,N,-12158.4524,W,1,03,00.5,036.8,M,-99.9,M,,*45 : Estimated northing and easting = 4074790.11 : 591505.89 : AshtechGps::processRecord() - $GPGGA,203732.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203732.89,3648.8613,N,-12158.4535,W,1,03,00.5,036.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203733.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203733.89,3648.8613,N,-12158.4546,W,1,03,00.5,037.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203734.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203734.89,3648.8614,N,-12158.4556,W,1,03,00.5,037.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203735.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4074769.51, 591488.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203735.89,3648.8615,N,-12158.4567,W,1,03,00.5,037.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203736.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 120.00 : 22.22 : Estimated East Bias at time = 120.00 : 7.40 : Estimated Depth Bias at time = 120.00 : -0.12 : Estimated northing and easting = 4074791.73 : 591495.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203736.89,3648.8616,N,-12158.4578,W,1,03,00.5,037.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203737.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203737.89,3648.8616,N,-12158.4589,W,1,03,00.5,037.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203738.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203738.89,3648.8617,N,-12158.4600,W,1,03,00.5,037.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203739.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203739.89,3648.8617,N,-12158.4611,W,1,03,00.5,037.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203740.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 125.001437 : TerrainNav update at dvl time = 125.001437 : _navData-> (x,y) = (4074769.99, 591480.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203740.89,3648.8618,N,-12158.4621,W,1,03,00.5,037.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203741.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 125.00 : 23.44 : Estimated East Bias at time = 125.00 : 5.51 : Estimated Depth Bias at time = 125.00 : -0.13 : Estimated northing and easting = 4074793.43 : 591485.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203741.89,3648.8618,N,-12158.4632,W,1,03,00.5,037.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203742.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203742.89,3648.8619,N,-12158.4643,W,1,03,00.5,037.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203743.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203743.89,3648.8620,N,-12158.4654,W,1,03,00.5,037.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203744.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203744.89,3648.8620,N,-12158.4665,W,1,03,00.5,037.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203745.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 130.001094 : TerrainNav update at dvl time = 130.001094 : _navData-> (x,y) = (4074770.46, 591472.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203745.89,3648.8621,N,-12158.4677,W,1,03,00.5,037.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203746.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203746.89,3648.8621,N,-12158.4688,W,1,03,00.5,038.0,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 130.00 : 23.84 : Estimated East Bias at time = 130.00 : 5.16 : Estimated Depth Bias at time = 130.00 : -0.12 : Estimated northing and easting = 4074794.31 : 591477.33 : AshtechGps::processRecord() - $GPGGA,203747.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203747.89,3648.8622,N,-12158.4699,W,1,03,00.5,038.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203748.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203748.89,3648.8623,N,-12158.4710,W,1,03,00.5,038.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203749.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203749.89,3648.8624,N,-12158.4720,W,1,03,00.5,038.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203750.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 135.000752 : TerrainNav update at dvl time = 135.000752 : _navData-> (x,y) = (4074771.04, 591464.07) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203750.89,3648.8625,N,-12158.4730,W,1,03,00.5,038.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203751.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 135.00 : 24.71 : Estimated East Bias at time = 135.00 : 3.44 : Estimated Depth Bias at time = 135.00 : -0.14 : Estimated northing and easting = 4074795.75 : 591467.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203751.89,3648.8626,N,-12158.4741,W,1,03,00.5,037.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203752.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203752.89,3648.8627,N,-12158.4751,W,1,03,00.5,038.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203753.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203753.89,3648.8629,N,-12158.4761,W,1,03,00.5,038.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203754.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203754.89,3648.8630,N,-12158.4772,W,1,03,00.5,038.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203755.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 140.000409 : TerrainNav update at dvl time = 140.000409 : _navData-> (x,y) = (4074772.12, 591456.30) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203755.89,3648.8631,N,-12158.4783,W,1,03,00.5,038.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203756.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203756.89,3648.8632,N,-12158.4795,W,1,03,00.5,038.2,M,-99.9,M,,*4a : Estimated North Bias at time = 140.00 : 24.99 : Estimated East Bias at time = 140.00 : 2.99 : Estimated Depth Bias at time = 140.00 : -0.15 : Estimated northing and easting = 4074797.11 : 591459.29 : AshtechGps::processRecord() - $GPGGA,203757.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203757.89,3648.8633,N,-12158.4806,W,1,03,00.5,038.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203758.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203758.89,3648.8634,N,-12158.4817,W,1,03,00.5,038.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203759.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203759.89,3648.8634,N,-12158.4828,W,1,03,00.5,038.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203800.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 145.000067 : TerrainNav update at dvl time = 145.000067 : _navData-> (x,y) = (4074772.83, 591447.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203800.89,3648.8635,N,-12158.4839,W,1,03,00.5,038.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203801.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 145.00 : 24.97 : Estimated East Bias at time = 145.00 : 3.16 : Estimated Depth Bias at time = 145.00 : -0.16 : Estimated northing and easting = 4074797.80 : 591451.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203801.89,3648.8636,N,-12158.4850,W,1,03,00.5,038.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203802.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203802.89,3648.8637,N,-12158.4860,W,1,03,00.5,038.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203803.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203803.89,3648.8637,N,-12158.4871,W,1,03,00.5,038.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203804.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203804.89,3648.8638,N,-12158.4882,W,1,03,00.5,038.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203805.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4074773.45, 591439.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203805.89,3648.8639,N,-12158.4893,W,1,03,00.5,038.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203806.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203806.89,3648.8640,N,-12158.4904,W,1,03,00.5,038.2,M,-99.9,M,,*43 : Estimated North Bias at time = 150.00 : 24.76 : Estimated East Bias at time = 150.00 : 3.74 : Estimated Depth Bias at time = 150.00 : -0.16 : Estimated northing and easting = 4074798.21 : 591443.72 : AshtechGps::processRecord() - $GPGGA,203807.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203807.89,3648.8641,N,-12158.4915,W,1,03,00.5,038.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203808.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203808.89,3648.8642,N,-12158.4926,W,1,03,00.5,038.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203809.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203809.89,3648.8642,N,-12158.4937,W,1,03,00.5,038.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203810.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 154.999382 : TerrainNav update at dvl time = 154.999382 : _navData-> (x,y) = (4074774.11, 591431.82) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203810.89,3648.8643,N,-12158.4947,W,1,03,00.5,039.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203811.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203811.89,3648.8644,N,-12158.4958,W,1,03,00.5,038.7,M,-99.9,M,,*4d : Estimated North Bias at time = 155.00 : 25.14 : Estimated East Bias at time = 155.00 : 2.82 : Estimated Depth Bias at time = 155.00 : -0.17 : Estimated northing and easting = 4074799.25 : 591434.63 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203812.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203812.89,3648.8645,N,-12158.4969,W,1,03,00.5,038.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203813.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203813.89,3648.8645,N,-12158.4979,W,1,03,00.5,038.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203814.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203814.89,3648.8646,N,-12158.4990,W,1,03,00.5,039.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203815.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 159.999039 : TerrainNav update at dvl time = 159.999039 : _navData-> (x,y) = (4074774.71, 591423.80) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203815.89,3648.8647,N,-12158.5002,W,1,03,00.5,038.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203816.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 160.00 : 25.28 : Estimated East Bias at time = 160.00 : 2.41 : Estimated Depth Bias at time = 160.00 : -0.18 : Estimated northing and easting = 4074799.99 : 591426.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203816.89,3648.8647,N,-12158.5013,W,1,03,00.5,038.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203817.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203817.89,3648.8648,N,-12158.5024,W,1,03,00.5,039.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203818.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203818.89,3648.8649,N,-12158.5035,W,1,03,00.5,039.2,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203819.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203819.89,3648.8649,N,-12158.5046,W,1,03,00.5,039.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203820.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 164.998697 : TerrainNav update at dvl time = 164.998697 : _navData-> (x,y) = (4074775.17, 591415.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203820.89,3648.8650,N,-12158.5057,W,1,03,00.5,039.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203821.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203821.89,3648.8650,N,-12158.5068,W,1,03,00.5,039.3,M,-99.9,M,,*45 : Estimated North Bias at time = 165.00 : 25.40 : Estimated East Bias at time = 165.00 : 2.01 : Estimated Depth Bias at time = 165.00 : -0.19 : Estimated northing and easting = 4074800.57 : 591417.54 : AshtechGps::processRecord() - $GPGGA,203822.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203822.89,3648.8651,N,-12158.5078,W,1,03,00.5,039.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203823.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203823.89,3648.8652,N,-12158.5089,W,1,03,00.5,039.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203824.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203824.89,3648.8652,N,-12158.5100,W,1,03,00.5,039.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203825.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 169.998354 : TerrainNav update at dvl time = 169.998354 : _navData-> (x,y) = (4074775.73, 591407.55) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203825.89,3648.8653,N,-12158.5111,W,1,03,00.5,039.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203826.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 170.00 : 25.32 : Estimated East Bias at time = 170.00 : 2.32 : Estimated Depth Bias at time = 170.00 : -0.20 : Estimated northing and easting = 4074801.04 : 591409.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203826.89,3648.8654,N,-12158.5121,W,1,03,00.5,039.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203827.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203827.89,3648.8655,N,-12158.5132,W,1,03,00.5,039.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203828.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203828.89,3648.8656,N,-12158.5143,W,1,03,00.5,039.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203829.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203829.89,3648.8656,N,-12158.5153,W,1,03,00.5,039.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203830.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 174.998012 : TerrainNav update at dvl time = 174.998012 : _navData-> (x,y) = (4074776.40, 591399.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203830.89,3648.8657,N,-12158.5164,W,1,03,00.5,039.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203831.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 175.00 : 25.42 : Estimated East Bias at time = 175.00 : 2.04 : Estimated Depth Bias at time = 175.00 : -0.21 : Estimated northing and easting = 4074801.83 : 591401.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203831.88,3648.8659,N,-12158.5175,W,1,03,00.5,039.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203832.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203832.88,3648.8660,N,-12158.5186,W,1,03,00.5,039.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203833.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203833.88,3648.8661,N,-12158.5196,W,1,03,00.5,039.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203834.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203834.88,3648.8662,N,-12158.5207,W,1,03,00.5,039.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203835.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4074777.30, 591391.57) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203835.88,3648.8663,N,-12158.5218,W,1,03,00.5,039.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203836.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 180.00 : 25.39 : Estimated East Bias at time = 180.00 : 2.22 : Estimated Depth Bias at time = 180.00 : -0.22 : Estimated northing and easting = 4074802.68 : 591393.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203836.88,3648.8664,N,-12158.5229,W,1,03,00.5,039.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203837.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203837.88,3648.8664,N,-12158.5239,W,1,03,00.5,039.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203838.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203838.88,3648.8665,N,-12158.5250,W,1,03,00.5,039.5,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203839.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203839.88,3648.8666,N,-12158.5262,W,1,03,00.5,039.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203840.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 184.997327 : TerrainNav update at dvl time = 184.997327 : _navData-> (x,y) = (4074777.93, 591383.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203840.88,3648.8666,N,-12158.5273,W,1,03,00.5,039.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203841.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 185.00 : 25.17 : Estimated East Bias at time = 185.00 : 3.15 : Estimated Depth Bias at time = 185.00 : -0.22 : Estimated northing and easting = 4074803.10 : 591386.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203841.88,3648.8667,N,-12158.5284,W,1,03,00.5,039.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203842.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203842.88,3648.8668,N,-12158.5295,W,1,03,00.5,039.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203843.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203843.88,3648.8669,N,-12158.5306,W,1,03,00.5,039.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203844.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203844.88,3648.8670,N,-12158.5316,W,1,03,00.5,039.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203845.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 189.996984 : TerrainNav update at dvl time = 189.996984 : _navData-> (x,y) = (4074778.58, 591375.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203845.88,3648.8671,N,-12158.5327,W,1,03,00.5,039.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203846.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 190.00 : 25.00 : Estimated East Bias at time = 190.00 : 3.39 : Estimated Depth Bias at time = 190.00 : -0.23 : Estimated northing and easting = 4074803.58 : 591378.72 : NMEA Update: $GPGGA,203846.88,3648.8672,N,-12158.5338,W,1,03,00.5,040.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203847.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203847.88,3648.8673,N,-12158.5348,W,1,03,00.5,040.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203848.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203848.88,3648.8674,N,-12158.5359,W,1,03,00.5,040.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203849.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203849.88,3648.8675,N,-12158.5370,W,1,03,00.5,040.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203850.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 194.996642 : TerrainNav update at dvl time = 194.996642 : _navData-> (x,y) = (4074779.45, 591367.24) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203850.88,3648.8676,N,-12158.5382,W,1,03,00.5,040.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203851.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 195.00 : 25.44 : Estimated East Bias at time = 195.00 : 1.99 : Estimated Depth Bias at time = 195.00 : -0.23 : Estimated northing and easting = 4074804.89 : 591369.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203851.88,3648.8677,N,-12158.5392,W,1,03,00.5,040.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203852.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203852.88,3648.8677,N,-12158.5403,W,1,03,00.5,040.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203853.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203853.88,3648.8678,N,-12158.5414,W,1,03,00.5,040.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203854.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203854.88,3648.8678,N,-12158.5425,W,1,03,00.5,040.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203855.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 199.996300 : TerrainNav update at dvl time = 199.996300 : _navData-> (x,y) = (4074779.97, 591359.20) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203855.88,3648.8679,N,-12158.5436,W,1,03,00.5,041.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203856.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 200.00 : 25.80 : Estimated East Bias at time = 200.00 : 0.43 : Estimated Depth Bias at time = 200.00 : -0.23 : Estimated northing and easting = 4074805.77 : 591359.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203856.88,3648.8679,N,-12158.5447,W,1,03,00.5,041.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203857.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203857.88,3648.8680,N,-12158.5458,W,1,03,00.5,041.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203858.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203858.88,3648.8681,N,-12158.5470,W,1,03,00.5,040.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203859.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203859.88,3648.8682,N,-12158.5481,W,1,03,00.5,040.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203900.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 204.995957 : TerrainNav update at dvl time = 204.995957 : _navData-> (x,y) = (4074780.55, 591350.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203900.88,3648.8683,N,-12158.5492,W,1,03,00.5,041.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203901.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203901.88,3648.8684,N,-12158.5503,W,1,03,00.5,041.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 205.00 : 26.51 : Estimated East Bias at time = 205.00 : -2.24 : Estimated Depth Bias at time = 205.00 : -0.22 : Estimated northing and easting = 4074807.06 : 591348.55 : AshtechGps::processRecord() - $GPGGA,203902.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203902.88,3648.8685,N,-12158.5513,W,1,03,00.5,041.6,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203903.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203903.88,3648.8687,N,-12158.5524,W,1,03,00.5,041.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203904.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203904.88,3648.8688,N,-12158.5534,W,1,03,00.5,041.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203905.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 209.995614 : TerrainNav update at dvl time = 209.995614 : _navData-> (x,y) = (4074781.58, 591342.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203905.88,3648.8689,N,-12158.5544,W,1,03,00.5,040.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203906.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 210.00 : 25.87 : Estimated East Bias at time = 210.00 : -0.38 : Estimated Depth Bias at time = 210.00 : -0.25 : Estimated northing and easting = 4074807.44 : 591342.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203906.88,3648.8689,N,-12158.5555,W,1,03,00.5,041.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203907.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203907.88,3648.8690,N,-12158.5566,W,1,03,00.5,041.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203908.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203908.88,3648.8691,N,-12158.5578,W,1,03,00.5,041.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203909.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203909.88,3648.8692,N,-12158.5589,W,1,03,00.5,041.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203910.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 214.995272 : TerrainNav update at dvl time = 214.995272 : _navData-> (x,y) = (4074782.17, 591334.64) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203910.88,3648.8692,N,-12158.5601,W,1,03,00.5,041.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203911.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 215.00 : 25.88 : Estimated East Bias at time = 215.00 : -0.72 : Estimated Depth Bias at time = 215.00 : -0.26 : Estimated northing and easting = 4074808.06 : 591333.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203911.88,3648.8693,N,-12158.5613,W,1,03,00.5,041.8,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203912.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203912.88,3648.8694,N,-12158.5624,W,1,03,00.5,042.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203913.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203913.88,3648.8695,N,-12158.5635,W,1,03,00.5,041.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203914.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203914.88,3648.8695,N,-12158.5645,W,1,03,00.5,042.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203915.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 219.994929 : TerrainNav update at dvl time = 219.994929 : _navData-> (x,y) = (4074782.81, 591326.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203915.89,3648.8696,N,-12158.5655,W,1,03,00.5,041.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203916.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203916.89,3648.8697,N,-12158.5666,W,1,03,00.5,042.7,M,-99.9,M,,*4b : Estimated North Bias at time = 219.99 : 27.28 : Estimated East Bias at time = 219.99 : -4.48 : Estimated Depth Bias at time = 219.99 : -0.23 : Estimated northing and easting = 4074810.09 : 591321.94 : AshtechGps::processRecord() - $GPGGA,203917.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203917.89,3648.8698,N,-12158.5676,W,1,03,00.5,041.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203918.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203918.89,3648.8699,N,-12158.5687,W,1,03,00.5,042.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203919.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203919.89,3648.8700,N,-12158.5698,W,1,03,00.5,042.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203920.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 224.994587 : TerrainNav update at dvl time = 224.994587 : _navData-> (x,y) = (4074783.59, 591318.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203920.89,3648.8701,N,-12158.5710,W,1,03,00.5,042.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 224.99 : 27.21 : Estimated East Bias at time = 224.99 : -3.92 : Estimated Depth Bias at time = 224.99 : -0.24 : Estimated northing and easting = 4074810.81 : 591314.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203921.89,3648.8702,N,-12158.5721,W,1,03,00.5,042.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203922.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203922.89,3648.8703,N,-12158.5732,W,1,03,00.5,042.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203923.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203923.89,3648.8703,N,-12158.5743,W,1,03,00.5,043.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203924.89,3648.8704,N,-12158.5754,W,1,03,00.5,042.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203925.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 229.994244 : TerrainNav update at dvl time = 229.994244 : _navData-> (x,y) = (4074784.15, 591310.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203925.89,3648.8704,N,-12158.5765,W,1,03,00.5,043.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 229.99 : 27.34 : Estimated East Bias at time = 229.99 : -5.50 : Estimated Depth Bias at time = 229.99 : -0.24 : Estimated northing and easting = 4074811.49 : 591304.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203926.89,3648.8705,N,-12158.5776,W,1,03,00.5,043.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203927.89,3648.8705,N,-12158.5786,W,1,03,00.5,043.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,203928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203928.89,3648.8706,N,-12158.5797,W,1,03,00.5,043.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203929.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203929.89,3648.8706,N,-12158.5808,W,1,03,00.5,043.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 234.993902 : TerrainNav update at dvl time = 234.993902 : _navData-> (x,y) = (4074784.52, 591302.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203930.89,3648.8707,N,-12158.5820,W,1,03,00.5,044.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,203931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 234.99 : 27.73 : Estimated East Bias at time = 234.99 : -6.31 : Estimated Depth Bias at time = 234.99 : -0.24 : Estimated northing and easting = 4074812.25 : 591295.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203931.89,3648.8707,N,-12158.5831,W,1,03,00.5,044.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203932.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203932.89,3648.8708,N,-12158.5842,W,1,03,00.5,043.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,203933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203933.89,3648.8709,N,-12158.5853,W,1,03,00.5,044.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203934.89,3648.8710,N,-12158.5864,W,1,03,00.5,044.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4074785.17, 591293.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203935.89,3648.8711,N,-12158.5875,W,1,03,00.5,045.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,203936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 239.99 : 29.44 : Estimated East Bias at time = 239.99 : -8.63 : Estimated Depth Bias at time = 239.99 : -0.20 : Estimated northing and easting = 4074814.61 : 591285.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203936.89,3648.8712,N,-12158.5886,W,1,03,00.5,045.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203937.89,3648.8713,N,-12158.5897,W,1,03,00.5,045.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,203938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203938.89,3648.8714,N,-12158.5908,W,1,03,00.5,045.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,203939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203939.89,3648.8715,N,-12158.5919,W,1,03,00.5,045.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203940.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 245.003216 : TerrainNav update at dvl time = 245.003216 : _navData-> (x,y) = (4074786.10, 591285.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203940.89,3648.8716,N,-12158.5930,W,1,03,00.5,046.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=4.79 speedMode=1 speed=1.50 : Waypoint has set the state to finished. : Waypoint (4074786.1, 591284.1), reached at t = 294.00 (wplog) : Vehicle Position is error is (-0.1, 0.2) : LayeredControl::execute() -- (t = 293.999860) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 294.00 (wplog) The current location (N,E) = 4074786.3 , 591283.9 (wplog) The next waypoint = 4074718.3 , 591221.5 (wplog) The bearing to the next w.p. is 222.6 Degrees. : LayeredControl::execute() -- (t = 293.999860) Behavior waypoint:-1 has changed to state Active : Estimated North Bias at time = 245.00 : 29.91 : Estimated East Bias at time = 245.00 : -10.12 : Estimated Depth Bias at time = 245.00 : -0.21 : Estimated northing and easting = 4074816.01 : 591275.46 : NMEA Update: $GPGGA,203941.89,3648.8717,N,-12158.5942,W,1,03,00.5,046.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203942.89,3648.8718,N,-12158.5953,W,1,03,00.5,045.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,203943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203943.89,3648.8718,N,-12158.5963,W,1,03,00.5,046.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203944.89,3648.8718,N,-12158.5974,W,1,03,00.5,046.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,203945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 250.002874 : TerrainNav update at dvl time = 250.002874 : _navData-> (x,y) = (4074786.34, 591277.50) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203945.89,3648.8717,N,-12158.5984,W,1,03,00.5,046.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,203946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203946.89,3648.8715,N,-12158.5994,W,1,03,00.5,047.2,M,-99.9,M,,*47 : Estimated North Bias at time = 250.00 : 27.32 : Estimated East Bias at time = 250.00 : -6.74 : Estimated Depth Bias at time = 250.00 : -0.27 : Estimated northing and easting = 4074813.66 : 591270.75 : AshtechGps::processRecord() - $GPGGA,203947.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203947.89,3648.8712,N,-12158.6003,W,1,03,00.5,046.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,203948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203948.89,3648.8708,N,-12158.6011,W,1,03,00.5,047.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,203949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,203949.89,3648.8705,N,-12158.6018,W,1,03,00.5,047.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 255.002531 : TerrainNav update at dvl time = 255.002531 : _navData-> (x,y) = (4074783.54, 591271.28) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203950.89,3648.8700,N,-12158.6023,W,1,03,00.5,048.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 255.00 : 18.66 : Estimated East Bias at time = 255.00 : -3.78 : Estimated Depth Bias at time = 255.00 : -0.43 : Estimated northing and easting = 4074802.20 : 591267.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203951.89,3648.8696,N,-12158.6027,W,1,03,00.5,047.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,203952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203952.89,3648.8691,N,-12158.6030,W,1,03,00.5,047.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203953.89,3648.8686,N,-12158.6032,W,1,03,00.5,046.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,203954.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203954.89,3648.8680,N,-12158.6034,W,1,03,00.5,046.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,203955.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 260.002189 : TerrainNav update at dvl time = 260.002189 : _navData-> (x,y) = (4074778.89, 591269.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,203955.89,3648.8674,N,-12158.6035,W,1,03,00.5,045.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,203956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : Estimated North Bias at time = 260.00 : 18.25 : Estimated East Bias at time = 260.00 : -5.13 : Estimated Depth Bias at time = 260.00 : -0.43 : Estimated northing and easting = 4074797.14 : 591264.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,203956.89,3648.8668,N,-12158.6036,W,1,03,00.5,044.5,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,203957.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203957.89,3648.8663,N,-12158.6037,W,1,03,00.5,045.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,203958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,203958.89,3648.8656,N,-12158.6039,W,1,03,00.5,044.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,203959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,203959.89,3648.8650,N,-12158.6041,W,1,03,00.5,044.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 265.001846 : TerrainNav update at dvl time = 265.001846 : _navData-> (x,y) = (4074773.28, 591268.17) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204000.89,3648.8644,N,-12158.6043,W,1,03,00.5,043.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 265.00 : 18.09 : Estimated East Bias at time = 265.00 : -5.25 : Estimated Depth Bias at time = 265.00 : -0.43 : Estimated northing and easting = 4074791.37 : 591262.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204001.89,3648.8638,N,-12158.6045,W,1,03,00.5,042.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204002.89,3648.8631,N,-12158.6047,W,1,03,00.5,041.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204003.89,3648.8625,N,-12158.6049,W,1,03,00.5,041.5,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204004.89,3648.8619,N,-12158.6051,W,1,03,00.5,041.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4074767.50, 591266.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204005.89,3648.8613,N,-12158.6053,W,1,03,00.5,040.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : Estimated North Bias at time = 270.00 : 18.85 : Estimated East Bias at time = 270.00 : -5.97 : Estimated Depth Bias at time = 270.00 : -0.41 : Estimated northing and easting = 4074786.35 : 591260.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204006.89,3648.8608,N,-12158.6056,W,1,03,00.5,040.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204007.89,3648.8603,N,-12158.6059,W,1,03,00.5,040.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204008.89,3648.8598,N,-12158.6062,W,1,03,00.5,040.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204009.89,3648.8593,N,-12158.6065,W,1,03,00.5,040.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 275.001161 : TerrainNav update at dvl time = 275.001161 : _navData-> (x,y) = (4074762.69, 591264.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204010.89,3648.8588,N,-12158.6069,W,1,03,00.5,039.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204011.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204011.89,3648.8583,N,-12158.6074,W,1,03,00.5,039.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : Estimated North Bias at time = 275.00 : 20.81 : Estimated East Bias at time = 275.00 : -7.09 : Estimated Depth Bias at time = 275.00 : -0.37 : Estimated northing and easting = 4074783.49 : 591257.43 : AshtechGps::processRecord() - $GPGGA,204012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204012.89,3648.8578,N,-12158.6078,W,1,03,00.5,039.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204013.89,3648.8572,N,-12158.6083,W,1,03,00.5,038.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204014.89,3648.8567,N,-12158.6087,W,1,03,00.5,038.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 280.000819 : TerrainNav update at dvl time = 280.000819 : _navData-> (x,y) = (4074757.98, 591261.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204015.89,3648.8562,N,-12158.6092,W,1,03,00.5,038.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : Estimated North Bias at time = 280.00 : 19.02 : Estimated East Bias at time = 280.00 : -8.16 : Estimated Depth Bias at time = 280.00 : -0.40 : Estimated northing and easting = 4074777.00 : 591253.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204016.89,3648.8557,N,-12158.6098,W,1,03,00.5,037.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204017.89,3648.8552,N,-12158.6103,W,1,03,00.5,037.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204018.89,3648.8546,N,-12158.6108,W,1,03,00.5,037.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204019.89,3648.8541,N,-12158.6114,W,1,03,00.5,036.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 285.000476 : TerrainNav update at dvl time = 285.000476 : _navData-> (x,y) = (4074753.11, 591257.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204020.89,3648.8536,N,-12158.6120,W,1,03,00.5,036.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : Estimated North Bias at time = 285.00 : 18.71 : Estimated East Bias at time = 285.00 : -8.72 : Estimated Depth Bias at time = 285.00 : -0.40 : Estimated northing and easting = 4074771.83 : 591248.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204021.89,3648.8531,N,-12158.6125,W,1,03,00.5,036.5,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204022.89,3648.8526,N,-12158.6131,W,1,03,00.5,036.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204023.89,3648.8521,N,-12158.6136,W,1,03,00.5,035.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204024.89,3648.8516,N,-12158.6142,W,1,03,00.5,036.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 290.000134 : TerrainNav update at dvl time = 290.000134 : _navData-> (x,y) = (4074748.34, 591253.24) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204025.89,3648.8511,N,-12158.6147,W,1,03,00.5,035.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 290.00 : 17.41 : Estimated East Bias at time = 290.00 : -9.21 : Estimated Depth Bias at time = 290.00 : -0.42 : Estimated northing and easting = 4074765.75 : 591244.04 : NMEA Update: $GPGGA,204026.89,3648.8505,N,-12158.6153,W,1,03,00.5,035.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204027.89,3648.8500,N,-12158.6159,W,1,03,00.5,035.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204028.89,3648.8495,N,-12158.6166,W,1,03,00.5,034.8,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204029.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204029.89,3648.8490,N,-12158.6172,W,1,03,00.5,034.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 294.999791 : TerrainNav update at dvl time = 294.999791 : _navData-> (x,y) = (4074743.59, 591248.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204030.89,3648.8485,N,-12158.6179,W,1,03,00.5,034.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : Estimated North Bias at time = 295.00 : 16.65 : Estimated East Bias at time = 295.00 : -9.91 : Estimated Depth Bias at time = 295.00 : -0.43 : Estimated northing and easting = 4074760.24 : 591238.81 : NMEA Update: $GPGGA,204031.89,3648.8480,N,-12158.6185,W,1,03,00.5,034.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204032.89,3648.8474,N,-12158.6192,W,1,03,00.5,034.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204033.89,3648.8469,N,-12158.6198,W,1,03,00.5,034.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204034.89,3648.8464,N,-12158.6205,W,1,03,00.5,033.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4074738.61, 591243.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204035.89,3648.8458,N,-12158.6211,W,1,03,00.5,033.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204036.89,3648.8453,N,-12158.6218,W,1,03,00.5,033.5,M,-99.9,M,,*47 : Estimated North Bias at time = 300.00 : 18.15 : Estimated East Bias at time = 300.00 : -10.31 : Estimated Depth Bias at time = 300.00 : -0.39 : Estimated northing and easting = 4074756.76 : 591233.64 : AshtechGps::processRecord() - $GPGGA,204037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204037.89,3648.8448,N,-12158.6224,W,1,03,00.5,033.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204038.89,3648.8443,N,-12158.6232,W,1,03,00.5,034.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204039.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204039.89,3648.8438,N,-12158.6239,W,1,03,00.5,035.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 304.999106 : TerrainNav update at dvl time = 304.999106 : _navData-> (x,y) = (4074733.76, 591238.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204040.89,3648.8433,N,-12158.6246,W,1,03,00.5,035.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : Estimated North Bias at time = 305.00 : 19.92 : Estimated East Bias at time = 305.00 : -10.55 : Estimated Depth Bias at time = 305.00 : -0.39 : Estimated northing and easting = 4074753.68 : 591228.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204041.89,3648.8428,N,-12158.6254,W,1,03,00.5,036.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204042.89,3648.8423,N,-12158.6261,W,1,03,00.5,036.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204043.89,3648.8418,N,-12158.6269,W,1,03,00.5,037.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204044.89,3648.8413,N,-12158.6276,W,1,03,00.5,038.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 309.998764 : TerrainNav update at dvl time = 309.998764 : _navData-> (x,y) = (4074729.06, 591233.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204045.89,3648.8407,N,-12158.6284,W,1,03,00.5,038.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 310.00 : 21.60 : Estimated East Bias at time = 310.00 : -10.99 : Estimated Depth Bias at time = 310.00 : -0.36 : Estimated northing and easting = 4074750.66 : 591222.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204046.89,3648.8402,N,-12158.6291,W,1,03,00.5,039.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204047.89,3648.8397,N,-12158.6299,W,1,03,00.5,040.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204048.89,3648.8391,N,-12158.6306,W,1,03,00.5,040.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204049.89,3648.8386,N,-12158.6313,W,1,03,00.5,042.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 314.998421 : TerrainNav update at dvl time = 314.998421 : _navData-> (x,y) = (4074724.04, 591227.86) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204050.89,3648.8380,N,-12158.6321,W,1,03,00.5,042.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204051.89,3648.8375,N,-12158.6328,W,1,03,00.5,043.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 315.00 : 25.16 : Estimated East Bias at time = 315.00 : -12.61 : Estimated Depth Bias at time = 315.00 : -0.30 : Estimated northing and easting = 4074749.19 : 591215.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204052.89,3648.8369,N,-12158.6336,W,1,03,00.5,044.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204053.89,3648.8364,N,-12158.6344,W,1,03,00.5,043.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204054.89,3648.8358,N,-12158.6351,W,1,03,00.5,045.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.00 horzlMode=3 horz=3.88 speedMode=1 speed=1.50 : TerrainNav update at nav time = 319.998079 : TerrainNav update at dvl time = 319.998079 : _navData-> (x,y) = (4074718.92, 591222.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204055.89,3648.8353,N,-12158.6359,W,1,03,00.5,045.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074718.3, 591221.5), reached at t = 368.79 (wplog) : Vehicle Position is error is (0.2, 0.1) : LayeredControl::execute() -- (t = 368.794736) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 368.79 (wplog) The current location (N,E) = 4074718.1 , 591221.4 (wplog) The next waypoint = 4074655.8 , 591163.7 (wplog) The bearing to the next w.p. is 222.8 Degrees. : LayeredControl::execute() -- (t = 368.794736) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=107.15 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204056.89,3648.8348,N,-12158.6366,W,1,03,00.5,046.5,M,-99.9,M,,*46 : Estimated North Bias at time = 320.00 : 23.94 : Estimated East Bias at time = 320.00 : -12.83 : Estimated Depth Bias at time = 320.00 : -0.30 : Estimated northing and easting = 4074742.86 : 591209.41 : AshtechGps::processRecord() - $GPGGA,204057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204057.88,3648.8342,N,-12158.6374,W,1,03,00.5,047.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=108.58 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204058.88,3648.8336,N,-12158.6381,W,1,03,00.5,048.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=109.37 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204059.88,3648.8331,N,-12158.6388,W,1,03,00.5,048.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 324.997736 : TerrainNav update at dvl time = 324.997736 : _navData-> (x,y) = (4074713.69, 591216.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204100.88,3648.8325,N,-12158.6395,W,1,03,00.5,049.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=110.05 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204101.88,3648.8319,N,-12158.6402,W,1,03,00.5,048.6,M,-99.9,M,,*48 : Estimated North Bias at time = 325.00 : 25.95 : Estimated East Bias at time = 325.00 : -13.04 : Estimated Depth Bias at time = 325.00 : -0.28 : Estimated northing and easting = 4074739.64 : 591203.91 : AshtechGps::processRecord() - $GPGGA,204102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=109.88 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204102.88,3648.8313,N,-12158.6409,W,1,03,00.5,048.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=109.07 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204103.88,3648.8307,N,-12158.6416,W,1,03,00.5,048.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204104.88,3648.8301,N,-12158.6423,W,1,03,00.5,047.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=109.12 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4074708.25, 591211.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204105.88,3648.8296,N,-12158.6430,W,1,03,00.5,047.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=107.47 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204106.88,3648.8290,N,-12158.6437,W,1,03,00.5,046.4,M,-99.9,M,,*45 : Estimated North Bias at time = 330.00 : 26.56 : Estimated East Bias at time = 330.00 : -14.47 : Estimated Depth Bias at time = 330.00 : -0.27 : Estimated northing and easting = 4074734.81 : 591197.31 : AshtechGps::processRecord() - $GPGGA,204107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204107.88,3648.8285,N,-12158.6444,W,1,03,00.5,045.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=107.41 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204108.88,3648.8279,N,-12158.6451,W,1,03,00.5,044.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=107.41 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204109.88,3648.8274,N,-12158.6458,W,1,03,00.5,044.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 334.997051 : TerrainNav update at dvl time = 334.997051 : _navData-> (x,y) = (4074703.12, 591206.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=107.58 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204110.88,3648.8268,N,-12158.6464,W,1,03,00.5,044.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204111.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204111.88,3648.8263,N,-12158.6470,W,1,03,00.5,044.4,M,-99.9,M,,*4e : Estimated North Bias at time = 335.00 : 27.06 : Estimated East Bias at time = 335.00 : -14.92 : Estimated Depth Bias at time = 335.00 : -0.26 : Estimated northing and easting = 4074730.17 : 591191.78 : AshtechGps::processRecord() - $GPGGA,204112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=107.84 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204112.88,3648.8258,N,-12158.6477,W,1,03,00.5,044.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=107.99 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204113.88,3648.8253,N,-12158.6483,W,1,03,00.5,043.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204114.88,3648.8247,N,-12158.6489,W,1,03,00.5,044.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=109.17 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 339.996709 : TerrainNav update at dvl time = 339.996709 : _navData-> (x,y) = (4074698.19, 591202.08) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204115.88,3648.8242,N,-12158.6495,W,1,03,00.5,044.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=110.14 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204116.88,3648.8237,N,-12158.6502,W,1,03,00.5,045.0,M,-99.9,M,,*49 : Estimated North Bias at time = 340.00 : 29.26 : Estimated East Bias at time = 340.00 : -15.24 : Estimated Depth Bias at time = 340.00 : -0.23 : Estimated northing and easting = 4074727.45 : 591186.84 : AshtechGps::processRecord() - $GPGGA,204117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=111.39 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204117.88,3648.8232,N,-12158.6508,W,1,03,00.5,045.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204118.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204118.88,3648.8227,N,-12158.6515,W,1,03,00.5,045.4,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=112.17 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204119.88,3648.8221,N,-12158.6521,W,1,03,00.5,045.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204120.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 344.996366 : TerrainNav update at dvl time = 344.996366 : _navData-> (x,y) = (4074693.30, 591197.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=113.19 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204120.88,3648.8216,N,-12158.6528,W,1,03,00.5,045.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204121.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204121.88,3648.8211,N,-12158.6534,W,1,03,00.5,046.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=114.17 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 345.00 : 29.11 : Estimated East Bias at time = 345.00 : -15.68 : Estimated Depth Bias at time = 345.00 : -0.23 : Estimated northing and easting = 4074722.41 : 591181.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204122.88,3648.8205,N,-12158.6541,W,1,03,00.5,045.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=114.89 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204123.88,3648.8200,N,-12158.6548,W,1,03,00.5,045.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=115.55 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204124.88,3648.8195,N,-12158.6555,W,1,03,00.5,046.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 349.996024 : TerrainNav update at dvl time = 349.996024 : _navData-> (x,y) = (4074688.40, 591192.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204125.88,3648.8190,N,-12158.6561,W,1,03,00.5,046.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=116.50 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204126.88,3648.8185,N,-12158.6568,W,1,03,00.5,045.7,M,-99.9,M,,*4b : Estimated North Bias at time = 350.00 : 30.46 : Estimated East Bias at time = 350.00 : -15.60 : Estimated Depth Bias at time = 350.00 : -0.22 : Estimated northing and easting = 4074718.87 : 591176.82 : AshtechGps::processRecord() - $GPGGA,204127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=117.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204127.88,3648.8180,N,-12158.6575,W,1,03,00.5,045.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204128.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204128.88,3648.8175,N,-12158.6582,W,1,03,00.5,046.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=118.01 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204129.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204129.88,3648.8170,N,-12158.6588,W,1,03,00.5,045.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=119.28 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 354.995681 : TerrainNav update at dvl time = 354.995681 : _navData-> (x,y) = (4074683.64, 591187.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204130.88,3648.8164,N,-12158.6594,W,1,03,00.5,046.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204131.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=119.82 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204131.88,3648.8159,N,-12158.6601,W,1,03,00.5,047.1,M,-99.9,M,,*44 : Estimated North Bias at time = 355.00 : 30.70 : Estimated East Bias at time = 355.00 : -16.62 : Estimated Depth Bias at time = 355.00 : -0.22 : Estimated northing and easting = 4074714.34 : 591170.91 : AshtechGps::processRecord() - $GPGGA,204132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204132.88,3648.8154,N,-12158.6607,W,1,03,00.5,046.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=120.12 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204133.88,3648.8149,N,-12158.6613,W,1,03,00.5,046.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=121.29 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204134.88,3648.8143,N,-12158.6619,W,1,03,00.5,047.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4074678.70, 591182.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204135.88,3648.8138,N,-12158.6626,W,1,03,00.5,047.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=121.57 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204136.88,3648.8132,N,-12158.6632,W,1,03,00.5,047.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 360.00 : 30.94 : Estimated East Bias at time = 360.00 : -16.61 : Estimated Depth Bias at time = 360.00 : -0.21 : Estimated northing and easting = 4074709.64 : 591166.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=122.70 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204137.88,3648.8127,N,-12158.6638,W,1,03,00.5,047.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=123.56 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204138.88,3648.8121,N,-12158.6645,W,1,03,00.5,047.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204139.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204139.88,3648.8116,N,-12158.6651,W,1,03,00.5,046.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=124.01 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : TerrainNav update at nav time = 364.994996 : TerrainNav update at dvl time = 364.994996 : _navData-> (x,y) = (4074673.54, 591178.37) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204140.88,3648.8110,N,-12158.6656,W,1,03,00.5,047.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=124.93 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204141.89,3648.8104,N,-12158.6662,W,1,03,00.5,047.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 364.99 : 30.86 : Estimated East Bias at time = 364.99 : -16.72 : Estimated Depth Bias at time = 364.99 : -0.21 : Estimated northing and easting = 4074704.40 : 591161.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204142.89,3648.8099,N,-12158.6667,W,1,03,00.5,046.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=124.99 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204143.89,3648.8093,N,-12158.6672,W,1,03,00.5,047.5,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204144.89,3648.8087,N,-12158.6678,W,1,03,00.5,046.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 369.994654 : TerrainNav update at dvl time = 369.994654 : _navData-> (x,y) = (4074668.26, 591174.45) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204145.89,3648.8082,N,-12158.6683,W,1,03,00.5,046.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204146.89,3648.8076,N,-12158.6688,W,1,03,00.5,047.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 369.99 : 32.10 : Estimated East Bias at time = 369.99 : -17.23 : Estimated Depth Bias at time = 369.99 : -0.20 : Estimated northing and easting = 4074700.36 : 591157.22 : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204147.89,3648.8070,N,-12158.6694,W,1,03,00.5,047.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204148.89,3648.8065,N,-12158.6699,W,1,03,00.5,047.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204149.89,3648.8059,N,-12158.6705,W,1,03,00.5,047.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 374.994311 : TerrainNav update at dvl time = 374.994311 : _navData-> (x,y) = (4074662.95, 591170.32) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204150.89,3648.8053,N,-12158.6711,W,1,03,00.5,047.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204151.89,3648.8048,N,-12158.6717,W,1,03,00.5,047.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 374.99 : 33.30 : Estimated East Bias at time = 374.99 : -17.95 : Estimated Depth Bias at time = 374.99 : -0.19 : Estimated northing and easting = 4074696.26 : 591152.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204152.89,3648.8042,N,-12158.6723,W,1,03,00.5,047.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204153.89,3648.8036,N,-12158.6729,W,1,03,00.5,047.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204154.89,3648.8030,N,-12158.6735,W,1,03,00.5,047.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 379.993969 : TerrainNav update at dvl time = 379.993969 : _navData-> (x,y) = (4074657.63, 591165.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204155.89,3648.8025,N,-12158.6741,W,1,03,00.5,047.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204156.89,3648.8019,N,-12158.6747,W,1,03,00.5,047.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=125.00 horzlMode=3 horz=3.89 speedMode=1 speed=1.50 : Estimated North Bias at time = 379.99 : 33.55 : Estimated East Bias at time = 379.99 : -18.56 : Estimated Depth Bias at time = 379.99 : -0.19 : Estimated northing and easting = 4074691.18 : 591147.39 : AshtechGps::processRecord() - $GPGGA,204157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4074655.8, 591163.7), reached at t = 430.20 (wplog) : Vehicle Position is error is (0.5, -0.3) : LayeredControl::execute() -- (t = 430.200529) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 430.20 (wplog) The current location (N,E) = 4074655.3 , 591164.1 (wplog) The next waypoint = 4074683.8 , 591058.7 (wplog) The bearing to the next w.p. is 285.1 Degrees. : LayeredControl::execute() -- (t = 430.200529) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,204157.89,3648.8013,N,-12158.6753,W,1,03,00.5,047.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=133.21 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204158.89,3648.8008,N,-12158.6759,W,1,03,00.5,047.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.22 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204159.89,3648.8002,N,-12158.6765,W,1,03,00.5,047.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 384.993626 : TerrainNav update at dvl time = 384.993626 : _navData-> (x,y) = (4074652.39, 591161.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204200.89,3648.7997,N,-12158.6771,W,1,03,00.5,047.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.91 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204201.89,3648.7992,N,-12158.6777,W,1,03,00.5,047.1,M,-99.9,M,,*45 : Estimated North Bias at time = 384.99 : 33.61 : Estimated East Bias at time = 384.99 : -19.15 : Estimated Depth Bias at time = 384.99 : -0.19 : Estimated northing and easting = 4074685.99 : 591142.46 : AshtechGps::processRecord() - $GPGGA,204202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=134.88 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204202.89,3648.7987,N,-12158.6785,W,1,03,00.5,046.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204203.89,3648.7982,N,-12158.6792,W,1,03,00.5,046.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=135.80 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204204.89,3648.7979,N,-12158.6800,W,1,03,00.5,047.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=136.98 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 390.003283 : TerrainNav update at dvl time = 390.003283 : _navData-> (x,y) = (4074648.13, 591156.26) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204205.89,3648.7975,N,-12158.6808,W,1,03,00.5,047.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.68 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204206.89,3648.7973,N,-12158.6817,W,1,03,00.5,047.5,M,-99.9,M,,*40 : Estimated North Bias at time = 390.00 : 34.80 : Estimated East Bias at time = 390.00 : -18.96 : Estimated Depth Bias at time = 390.00 : -0.18 : Estimated northing and easting = 4074682.93 : 591137.31 : AshtechGps::processRecord() - $GPGGA,204207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204207.89,3648.7971,N,-12158.6826,W,1,03,00.5,048.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=139.30 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204208.89,3648.7970,N,-12158.6834,W,1,03,00.5,048.0,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=140.63 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204209.89,3648.7970,N,-12158.6843,W,1,03,00.5,049.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 395.002940 : TerrainNav update at dvl time = 395.002940 : _navData-> (x,y) = (4074646.75, 591149.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204210.89,3648.7971,N,-12158.6851,W,1,03,00.5,049.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=141.26 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204211.89,3648.7972,N,-12158.6859,W,1,03,00.5,049.4,M,-99.9,M,,*42 : Estimated North Bias at time = 395.00 : 32.46 : Estimated East Bias at time = 395.00 : -15.63 : Estimated Depth Bias at time = 395.00 : -0.21 : Estimated northing and easting = 4074679.21 : 591134.28 : AshtechGps::processRecord() - $GPGGA,204212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=142.43 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204212.89,3648.7975,N,-12158.6866,W,1,03,00.5,049.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=143.23 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204213.89,3648.7978,N,-12158.6873,W,1,03,00.5,050.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204214.89,3648.7981,N,-12158.6880,W,1,03,00.5,050.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.68 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 400.002598 : TerrainNav update at dvl time = 400.002598 : _navData-> (x,y) = (4074649.07, 591144.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204215.89,3648.7985,N,-12158.6886,W,1,03,00.5,050.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=144.36 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204216.89,3648.7990,N,-12158.6892,W,1,03,00.5,050.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 400.00 : 24.56 : Estimated East Bias at time = 400.00 : -10.40 : Estimated Depth Bias at time = 400.00 : -0.32 : Estimated northing and easting = 4074673.63 : 591134.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204217.89,3648.7994,N,-12158.6898,W,1,03,00.5,049.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=144.63 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204218.89,3648.7999,N,-12158.6904,W,1,03,00.5,049.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.98 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204219.89,3648.8004,N,-12158.6910,W,1,03,00.5,048.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 405.002255 : TerrainNav update at dvl time = 405.002255 : _navData-> (x,y) = (4074653.15, 591140.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=144.54 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204220.89,3648.8008,N,-12158.6916,W,1,03,00.5,048.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204221.89,3648.8013,N,-12158.6922,W,1,03,00.5,047.2,M,-99.9,M,,*45 : Estimated North Bias at time = 405.00 : 14.99 : Estimated East Bias at time = 405.00 : -4.76 : Estimated Depth Bias at time = 405.00 : -0.51 : Estimated northing and easting = 4074668.14 : 591135.25 : AshtechGps::processRecord() - $GPGGA,204222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=144.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204222.89,3648.8017,N,-12158.6928,W,1,03,00.5,047.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=144.95 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204223.89,3648.8022,N,-12158.6935,W,1,03,00.5,046.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204224.89,3648.8026,N,-12158.6942,W,1,03,00.5,047.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=145.22 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 410.001913 : TerrainNav update at dvl time = 410.001913 : _navData-> (x,y) = (4074657.26, 591135.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204225.89,3648.8030,N,-12158.6949,W,1,03,00.5,046.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=145.75 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204226.89,3648.8035,N,-12158.6956,W,1,03,00.5,046.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 410.00 : 7.81 : Estimated East Bias at time = 410.00 : -0.27 : Estimated Depth Bias at time = 410.00 : -0.66 : Estimated northing and easting = 4074665.07 : 591134.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=146.54 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204227.89,3648.8039,N,-12158.6963,W,1,03,00.5,046.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204228.89,3648.8043,N,-12158.6970,W,1,03,00.5,046.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=147.20 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204229.89,3648.8048,N,-12158.6978,W,1,03,00.5,046.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 415.001570 : TerrainNav update at dvl time = 415.001570 : _navData-> (x,y) = (4074661.18, 591129.71) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=147.09 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204230.89,3648.8052,N,-12158.6986,W,1,03,00.5,045.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204231.89,3648.8056,N,-12158.6993,W,1,03,00.5,045.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=147.62 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : Estimated North Bias at time = 415.00 : 2.82 : Estimated East Bias at time = 415.00 : 1.31 : Estimated Depth Bias at time = 415.00 : -0.81 : Estimated northing and easting = 4074664.00 : 591131.03 : AshtechGps::processRecord() - $GPGGA,204232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204232.89,3648.8060,N,-12158.7001,W,1,03,00.5,045.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.01 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204233.89,3648.8064,N,-12158.7009,W,1,03,00.5,044.1,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.07 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204234.89,3648.8068,N,-12158.7017,W,1,03,00.5,044.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4074664.78, 591123.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204235.89,3648.8071,N,-12158.7025,W,1,03,00.5,043.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.30 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204236.89,3648.8075,N,-12158.7033,W,1,03,00.5,043.5,M,-99.9,M,,*48 : Estimated North Bias at time = 420.00 : 0.93 : Estimated East Bias at time = 420.00 : 2.77 : Estimated Depth Bias at time = 420.00 : -0.86 : Estimated northing and easting = 4074665.70 : 591126.62 : AshtechGps::processRecord() - $GPGGA,204237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=149.17 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204237.89,3648.8078,N,-12158.7042,W,1,03,00.5,043.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204238.89,3648.8081,N,-12158.7050,W,1,03,00.5,043.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=149.58 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204239.89,3648.8084,N,-12158.7059,W,1,03,00.5,043.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 425.000885 : TerrainNav update at dvl time = 425.000885 : _navData-> (x,y) = (4074667.71, 591117.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204240.89,3648.8087,N,-12158.7067,W,1,03,00.5,043.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204241.89,3648.8090,N,-12158.7076,W,1,03,00.5,043.1,M,-99.9,M,,*46 : Estimated North Bias at time = 425.00 : -0.57 : Estimated East Bias at time = 425.00 : 2.92 : Estimated Depth Bias at time = 425.00 : -0.90 : Estimated northing and easting = 4074667.14 : 591120.49 : AshtechGps::processRecord() - $GPGGA,204242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204242.89,3648.8092,N,-12158.7085,W,1,03,00.5,043.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204243.89,3648.8095,N,-12158.7094,W,1,03,00.5,042.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204244.89,3648.8098,N,-12158.7103,W,1,03,00.5,042.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 430.000543 : TerrainNav update at dvl time = 430.000543 : _navData-> (x,y) = (4074670.10, 591110.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204245.89,3648.8100,N,-12158.7112,W,1,03,00.5,042.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 430.00 : -1.25 : Estimated East Bias at time = 430.00 : 2.99 : Estimated Depth Bias at time = 430.00 : -0.92 : Estimated northing and easting = 4074668.85 : 591113.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204246.89,3648.8103,N,-12158.7121,W,1,03,00.5,042.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204247.89,3648.8105,N,-12158.7130,W,1,03,00.5,042.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204248.89,3648.8108,N,-12158.7138,W,1,03,00.5,042.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204249.89,3648.8110,N,-12158.7147,W,1,03,00.5,042.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 435.000201 : TerrainNav update at dvl time = 435.000201 : _navData-> (x,y) = (4074672.36, 591104.36) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204250.89,3648.8113,N,-12158.7156,W,1,03,00.5,042.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 435.00 : -1.83 : Estimated East Bias at time = 435.00 : 2.49 : Estimated Depth Bias at time = 435.00 : -0.93 : Estimated northing and easting = 4074670.53 : 591106.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204251.89,3648.8115,N,-12158.7165,W,1,03,00.5,041.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204252.89,3648.8118,N,-12158.7174,W,1,03,00.5,042.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204253.89,3648.8120,N,-12158.7183,W,1,03,00.5,042.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204254.89,3648.8122,N,-12158.7192,W,1,03,00.5,041.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 439.999858 : TerrainNav update at dvl time = 439.999858 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : _navData-> (x,y) = (4074674.45, 591097.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204255.89,3648.8124,N,-12158.7201,W,1,03,00.5,041.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 440.00 : -2.05 : Estimated East Bias at time = 440.00 : 0.56 : Estimated Depth Bias at time = 440.00 : -0.93 : Estimated northing and easting = 4074672.40 : 591098.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204256.89,3648.8126,N,-12158.7210,W,1,03,00.5,041.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204257.89,3648.8128,N,-12158.7219,W,1,03,00.5,041.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204258.89,3648.8130,N,-12158.7228,W,1,03,00.5,041.2,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204259.89,3648.8132,N,-12158.7237,W,1,03,00.5,041.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 444.999516 : TerrainNav update at dvl time = 444.999516 : _navData-> (x,y) = (4074676.14, 591090.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204300.89,3648.8134,N,-12158.7247,W,1,03,00.5,041.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : Estimated North Bias at time = 445.00 : -2.04 : Estimated East Bias at time = 445.00 : 1.82 : Estimated Depth Bias at time = 445.00 : -0.92 : Estimated northing and easting = 4074674.09 : 591092.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204301.89,3648.8135,N,-12158.7256,W,1,03,00.5,041.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204302.89,3648.8137,N,-12158.7265,W,1,03,00.5,041.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204303.89,3648.8139,N,-12158.7275,W,1,03,00.5,041.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204304.89,3648.8141,N,-12158.7284,W,1,03,00.5,041.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4074677.72, 591083.94) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204305.89,3648.8143,N,-12158.7293,W,1,03,00.5,040.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204306.89,3648.8144,N,-12158.7302,W,1,03,00.5,041.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : Estimated North Bias at time = 450.00 : -2.64 : Estimated East Bias at time = 450.00 : 0.82 : Estimated Depth Bias at time = 450.00 : -0.93 : Estimated northing and easting = 4074675.08 : 591084.75 : AshtechGps::processRecord() - $GPGGA,204307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204307.89,3648.8146,N,-12158.7312,W,1,03,00.5,041.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204308.89,3648.8148,N,-12158.7321,W,1,03,00.5,041.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204309.89,3648.8150,N,-12158.7330,W,1,03,00.5,041.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 454.998831 : TerrainNav update at dvl time = 454.998831 : _navData-> (x,y) = (4074679.43, 591077.05) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204310.89,3648.8152,N,-12158.7339,W,1,03,00.5,041.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : Estimated North Bias at time = 455.00 : -2.95 : Estimated East Bias at time = 455.00 : 0.89 : Estimated Depth Bias at time = 455.00 : -0.94 : Estimated northing and easting = 4074676.48 : 591077.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204311.89,3648.8154,N,-12158.7349,W,1,03,00.5,040.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204312.89,3648.8156,N,-12158.7358,W,1,03,00.5,040.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204313.89,3648.8158,N,-12158.7368,W,1,03,00.5,040.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204314.89,3648.8160,N,-12158.7377,W,1,03,00.5,040.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : TerrainNav update at nav time = 459.998488 : TerrainNav update at dvl time = 459.998488 : _navData-> (x,y) = (4074681.20, 591070.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204315.89,3648.8162,N,-12158.7387,W,1,03,00.5,040.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : Estimated North Bias at time = 460.00 : -3.26 : Estimated East Bias at time = 460.00 : 0.77 : Estimated Depth Bias at time = 460.00 : -0.95 : Estimated northing and easting = 4074677.94 : 591070.80 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204316.89,3648.8164,N,-12158.7396,W,1,03,00.5,040.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204317.89,3648.8166,N,-12158.7406,W,1,03,00.5,040.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204318.89,3648.8168,N,-12158.7415,W,1,03,00.5,039.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204319.89,3648.8170,N,-12158.7425,W,1,03,00.5,040.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 464.998146 : TerrainNav update at dvl time = 464.998146 : _navData-> (x,y) = (4074683.00, 591062.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204320.89,3648.8172,N,-12158.7435,W,1,03,00.5,040.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 465.00 : -3.48 : Estimated East Bias at time = 465.00 : 1.10 : Estimated Depth Bias at time = 465.00 : -0.95 : Estimated northing and easting = 4074679.52 : 591064.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204321.89,3648.8175,N,-12158.7444,W,1,03,00.5,040.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.00 horzlMode=3 horz=4.98 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204322.89,3648.8177,N,-12158.7454,W,1,03,00.5,040.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074683.8, 591058.7), reached at t = 515.99 (wplog) : Vehicle Position is error is (-0.3, 0.1) : LayeredControl::execute() -- (t = 515.994652) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 515.99 (wplog) The current location (N,E) = 4074684.1 , 591058.6 (wplog) The next waypoint = 4074752.1 , 590820.1 (wplog) The bearing to the next w.p. is 285.9 Degrees. : LayeredControl::execute() -- (t = 515.994652) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=168.83 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204323.88,3648.8179,N,-12158.7463,W,1,03,00.5,040.0,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204324.88,3648.8181,N,-12158.7473,W,1,03,00.5,040.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=169.57 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 469.997803 : TerrainNav update at dvl time = 469.997803 : _navData-> (x,y) = (4074684.87, 591055.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204325.88,3648.8183,N,-12158.7482,W,1,03,00.5,039.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.35 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 470.00 : -3.64 : Estimated East Bias at time = 470.00 : 0.46 : Estimated Depth Bias at time = 470.00 : -0.94 : Estimated northing and easting = 4074681.23 : 591056.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204326.88,3648.8186,N,-12158.7492,W,1,03,00.5,039.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204327.88,3648.8188,N,-12158.7502,W,1,03,00.5,040.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=171.15 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204328.88,3648.8191,N,-12158.7511,W,1,03,00.5,040.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=171.87 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204329.88,3648.8193,N,-12158.7520,W,1,03,00.5,039.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 474.997461 : TerrainNav update at dvl time = 474.997461 : _navData-> (x,y) = (4074687.08, 591048.68) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=172.12 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204330.88,3648.8196,N,-12158.7530,W,1,03,00.5,039.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 475.00 : -4.06 : Estimated East Bias at time = 475.00 : -0.13 : Estimated Depth Bias at time = 475.00 : -0.94 : NMEA Update: $GPGGA,204331.88,3648.8198,N,-12158.7539,W,1,03,00.5,039.6,M,-99.9,M,,*4c : Estimated northing and easting = 4074683.02 : 591048.55 : AshtechGps::processRecord() - $GPGGA,204332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=172.58 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204332.88,3648.8201,N,-12158.7549,W,1,03,00.5,039.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=173.26 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204333.88,3648.8203,N,-12158.7558,W,1,03,00.5,039.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204334.88,3648.8206,N,-12158.7568,W,1,03,00.5,038.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=173.37 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4074689.31, 591041.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204335.88,3648.8208,N,-12158.7577,W,1,03,00.5,039.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=174.45 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 480.00 : -4.61 : Estimated East Bias at time = 480.00 : -0.27 : Estimated Depth Bias at time = 480.00 : -0.94 : Estimated northing and easting = 4074684.71 : 591041.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204336.88,3648.8210,N,-12158.7587,W,1,03,00.5,038.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=174.79 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204337.88,3648.8213,N,-12158.7597,W,1,03,00.5,039.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204338.88,3648.8215,N,-12158.7606,W,1,03,00.5,038.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.31 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204339.88,3648.8218,N,-12158.7616,W,1,03,00.5,038.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 484.996776 : TerrainNav update at dvl time = 484.996776 : _navData-> (x,y) = (4074691.47, 591034.45) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.99 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204340.88,3648.8220,N,-12158.7625,W,1,03,00.5,038.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 485.00 : -4.99 : Estimated East Bias at time = 485.00 : -0.70 : Estimated Depth Bias at time = 485.00 : -0.94 : Estimated northing and easting = 4074686.48 : 591033.76 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204341.88,3648.8223,N,-12158.7635,W,1,03,00.5,038.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=176.49 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204342.88,3648.8225,N,-12158.7644,W,1,03,00.5,037.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=176.60 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204343.88,3648.8228,N,-12158.7654,W,1,03,00.5,038.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=177.10 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204344.88,3648.8230,N,-12158.7664,W,1,03,00.5,037.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 489.996433 : TerrainNav update at dvl time = 489.996433 : _navData-> (x,y) = (4074693.66, 591027.32) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204345.88,3648.8232,N,-12158.7673,W,1,03,00.5,037.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=177.68 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 490.00 : -5.48 : Estimated East Bias at time = 490.00 : -0.17 : Estimated Depth Bias at time = 490.00 : -0.94 : Estimated northing and easting = 4074688.18 : 591027.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204346.88,3648.8235,N,-12158.7683,W,1,03,00.5,037.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=178.36 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204347.88,3648.8237,N,-12158.7692,W,1,03,00.5,037.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204348.88,3648.8239,N,-12158.7702,W,1,03,00.5,036.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=178.31 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204349.88,3648.8242,N,-12158.7712,W,1,03,00.5,036.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=178.71 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 494.996090 : TerrainNav update at dvl time = 494.996090 : _navData-> (x,y) = (4074695.77, 591020.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204350.88,3648.8244,N,-12158.7721,W,1,03,00.5,036.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=179.36 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 495.00 : -5.64 : Estimated East Bias at time = 495.00 : 0.18 : Estimated Depth Bias at time = 495.00 : -0.94 : Estimated northing and easting = 4074690.13 : 591020.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204351.88,3648.8246,N,-12158.7731,W,1,03,00.5,036.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204352.88,3648.8249,N,-12158.7741,W,1,03,00.5,036.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=179.89 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204353.88,3648.8251,N,-12158.7750,W,1,03,00.5,036.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=180.50 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204354.88,3648.8253,N,-12158.7760,W,1,03,00.5,036.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 499.995748 : TerrainNav update at dvl time = 499.995748 : _navData-> (x,y) = (4074697.85, 591012.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204355.88,3648.8256,N,-12158.7770,W,1,03,00.5,035.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=180.67 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 500.00 : -6.57 : Estimated East Bias at time = 500.00 : -0.75 : Estimated Depth Bias at time = 500.00 : -0.97 : Estimated northing and easting = 4074691.27 : 591012.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204356.88,3648.8258,N,-12158.7779,W,1,03,00.5,035.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=181.10 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204357.88,3648.8260,N,-12158.7789,W,1,03,00.5,035.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=181.35 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204358.88,3648.8262,N,-12158.7798,W,1,03,00.5,035.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204359.88,3648.8264,N,-12158.7808,W,1,03,00.5,034.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=181.14 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 504.995405 : TerrainNav update at dvl time = 504.995405 : _navData-> (x,y) = (4074699.73, 591005.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204400.88,3648.8266,N,-12158.7818,W,1,03,00.5,034.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=181.92 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 505.00 : -6.94 : Estimated East Bias at time = 505.00 : -0.96 : Estimated Depth Bias at time = 505.00 : -0.98 : Estimated northing and easting = 4074692.79 : 591004.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204401.88,3648.8268,N,-12158.7827,W,1,03,00.5,034.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204402.88,3648.8270,N,-12158.7837,W,1,03,00.5,034.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=182.53 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204403.88,3648.8272,N,-12158.7847,W,1,03,00.5,033.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=182.75 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204404.88,3648.8273,N,-12158.7856,W,1,03,00.5,033.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204405.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 509.995063 : TerrainNav update at dvl time = 509.995063 : _navData-> (x,y) = (4074701.33, 590998.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=183.32 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204405.88,3648.8275,N,-12158.7866,W,1,03,00.5,033.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 510.00 : -7.55 : Estimated East Bias at time = 510.00 : -1.21 : Estimated Depth Bias at time = 510.00 : -0.99 : Estimated northing and easting = 4074693.77 : 590997.40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204406.88,3648.8277,N,-12158.7875,W,1,03,00.5,033.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=184.01 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204407.89,3648.8279,N,-12158.7885,W,1,03,00.5,032.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=183.95 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204408.89,3648.8280,N,-12158.7894,W,1,03,00.5,032.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204409.89,3648.8282,N,-12158.7904,W,1,03,00.5,032.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=184.50 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 514.994720 : TerrainNav update at dvl time = 514.994720 : _navData-> (x,y) = (4074702.85, 590991.47) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204410.89,3648.8284,N,-12158.7914,W,1,03,00.5,032.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=184.92 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 514.99 : -7.92 : Estimated East Bias at time = 514.99 : -1.75 : Estimated Depth Bias at time = 514.99 : -1.00 : Estimated northing and easting = 4074694.93 : 590989.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204411.89,3648.8286,N,-12158.7923,W,1,03,00.5,031.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204412.89,3648.8287,N,-12158.7933,W,1,03,00.5,031.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204413.89,3648.8289,N,-12158.7942,W,1,03,00.5,031.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204414.89,3648.8291,N,-12158.7952,W,1,03,00.5,030.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 519.994378 : TerrainNav update at dvl time = 519.994378 : _navData-> (x,y) = (4074704.53, 590984.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204415.89,3648.8293,N,-12158.7961,W,1,03,00.5,030.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 519.99 : -8.25 : Estimated East Bias at time = 519.99 : -2.49 : Estimated Depth Bias at time = 519.99 : -1.00 : Estimated northing and easting = 4074696.28 : 590981.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204416.89,3648.8296,N,-12158.7971,W,1,03,00.5,030.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204417.89,3648.8298,N,-12158.7981,W,1,03,00.5,030.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204418.89,3648.8300,N,-12158.7990,W,1,03,00.5,029.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204419.89,3648.8302,N,-12158.8000,W,1,03,00.5,029.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 524.994035 : TerrainNav update at dvl time = 524.994035 : _navData-> (x,y) = (4074706.50, 590977.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204420.89,3648.8305,N,-12158.8009,W,1,03,00.5,029.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 524.99 : -8.88 : Estimated East Bias at time = 524.99 : -4.13 : Estimated Depth Bias at time = 524.99 : -1.02 : Estimated northing and easting = 4074697.62 : 590973.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204421.89,3648.8307,N,-12158.8019,W,1,03,00.5,029.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204422.89,3648.8309,N,-12158.8028,W,1,03,00.5,028.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204423.89,3648.8311,N,-12158.8038,W,1,03,00.5,028.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204424.89,3648.8313,N,-12158.8048,W,1,03,00.5,027.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 529.993693 : TerrainNav update at dvl time = 529.993693 : _navData-> (x,y) = (4074708.47, 590970.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204425.89,3648.8316,N,-12158.8057,W,1,03,00.5,027.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 529.99 : -9.49 : Estimated East Bias at time = 529.99 : -5.47 : Estimated Depth Bias at time = 529.99 : -1.03 : Estimated northing and easting = 4074698.98 : 590964.59 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204426.89,3648.8318,N,-12158.8067,W,1,03,00.5,027.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204427.89,3648.8320,N,-12158.8076,W,1,03,00.5,027.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204428.89,3648.8323,N,-12158.8086,W,1,03,00.5,026.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204429.89,3648.8325,N,-12158.8095,W,1,03,00.5,026.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 534.993351 : TerrainNav update at dvl time = 534.993351 : _navData-> (x,y) = (4074710.57, 590962.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204430.89,3648.8328,N,-12158.8105,W,1,03,00.5,026.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 534.99 : -9.71 : Estimated East Bias at time = 534.99 : -7.33 : Estimated Depth Bias at time = 534.99 : -1.03 : Estimated northing and easting = 4074700.86 : 590955.63 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204431.89,3648.8330,N,-12158.8114,W,1,03,00.5,025.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204432.89,3648.8333,N,-12158.8124,W,1,03,00.5,025.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204433.89,3648.8335,N,-12158.8133,W,1,03,00.5,024.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204434.89,3648.8338,N,-12158.8143,W,1,03,00.5,024.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 540.003007 : TerrainNav update at dvl time = 540.003007 : _navData-> (x,y) = (4074712.80, 590955.89) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204435.89,3648.8339,N,-12158.8148,W,1,03,00.5,015.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 540.00 : -10.04 : Estimated East Bias at time = 540.00 : -7.39 : Estimated Depth Bias at time = 540.00 : -1.03 : Estimated northing and easting = 4074702.76 : 590948.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204436.89,3648.8341,N,-12158.8156,W,1,03,00.5,023.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204437.89,3648.8343,N,-12158.8163,W,1,03,00.5,022.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204438.89,3648.8343,N,-12158.8163,W,1,03,00.5,016.6,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204439.89,3648.8346,N,-12158.8173,W,1,03,00.5,022.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 545.002665 : TerrainNav update at dvl time = 545.002665 : _navData-> (x,y) = (4074714.25, 590951.43) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204440.89,3648.8348,N,-12158.8182,W,1,03,00.5,022.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 545.00 : -10.26 : Estimated East Bias at time = 545.00 : -7.50 : Estimated Depth Bias at time = 545.00 : -1.03 : Estimated northing and easting = 4074703.99 : 590943.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204441.89,3648.8351,N,-12158.8192,W,1,03,00.5,022.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204442.89,3648.8353,N,-12158.8201,W,1,03,00.5,022.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204443.89,3648.8356,N,-12158.8211,W,1,03,00.5,022.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204444.89,3648.8358,N,-12158.8221,W,1,03,00.5,022.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 550.002322 : TerrainNav update at dvl time = 550.002322 : _navData-> (x,y) = (4074716.48, 590944.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204445.89,3648.8361,N,-12158.8230,W,1,03,00.5,022.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 550.00 : -10.78 : Estimated East Bias at time = 550.00 : -6.45 : Estimated Depth Bias at time = 550.00 : -1.04 : Estimated northing and easting = 4074705.69 : 590937.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204446.89,3648.8363,N,-12158.8240,W,1,03,00.5,022.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204447.89,3648.8366,N,-12158.8250,W,1,03,00.5,022.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204448.89,3648.8368,N,-12158.8260,W,1,03,00.5,022.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204449.89,3648.8371,N,-12158.8270,W,1,03,00.5,022.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 555.001980 : TerrainNav update at dvl time = 555.001980 : _navData-> (x,y) = (4074718.70, 590936.85) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204450.89,3648.8373,N,-12158.8280,W,1,03,00.5,022.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 555.00 : -10.91 : Estimated East Bias at time = 555.00 : -6.39 : Estimated Depth Bias at time = 555.00 : -1.04 : Estimated northing and easting = 4074707.80 : 590930.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204451.89,3648.8376,N,-12158.8290,W,1,03,00.5,022.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204452.89,3648.8378,N,-12158.8300,W,1,03,00.5,022.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204453.89,3648.8381,N,-12158.8310,W,1,03,00.5,022.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204454.89,3648.8383,N,-12158.8320,W,1,03,00.5,023.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 560.001637 : TerrainNav update at dvl time = 560.001637 : _navData-> (x,y) = (4074720.98, 590929.32) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204455.89,3648.8386,N,-12158.8331,W,1,03,00.5,023.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 560.00 : -10.95 : Estimated East Bias at time = 560.00 : -6.06 : Estimated Depth Bias at time = 560.00 : -1.04 : Estimated northing and easting = 4074710.03 : 590923.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204456.89,3648.8388,N,-12158.8341,W,1,03,00.5,023.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204457.89,3648.8391,N,-12158.8351,W,1,03,00.5,024.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204458.89,3648.8393,N,-12158.8361,W,1,03,00.5,024.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204459.89,3648.8396,N,-12158.8371,W,1,03,00.5,024.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 565.001295 : TerrainNav update at dvl time = 565.001295 : _navData-> (x,y) = (4074723.20, 590921.73) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,204500.89,3648.8398,N,-12158.8382,W,1,03,00.5,025.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 565.00 : -11.06 : Estimated East Bias at time = 565.00 : -6.57 : Estimated Depth Bias at time = 565.00 : -1.04 : Estimated northing and easting = 4074712.14 : 590915.16 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204501.89,3648.8401,N,-12158.8392,W,1,03,00.5,025.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204502.89,3648.8403,N,-12158.8402,W,1,03,00.5,025.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204503.89,3648.8406,N,-12158.8412,W,1,03,00.5,025.7,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204504.89,3648.8408,N,-12158.8423,W,1,03,00.5,025.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4074725.36, 590914.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204505.89,3648.8410,N,-12158.8433,W,1,03,00.5,026.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 570.00 : -11.08 : Estimated East Bias at time = 570.00 : -6.33 : Estimated Depth Bias at time = 570.00 : -1.03 : Estimated northing and easting = 4074714.29 : 590907.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204506.89,3648.8413,N,-12158.8443,W,1,03,00.5,026.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204507.89,3648.8415,N,-12158.8454,W,1,03,00.5,026.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204508.89,3648.8418,N,-12158.8464,W,1,03,00.5,026.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204509.89,3648.8420,N,-12158.8474,W,1,03,00.5,027.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 575.000610 : TerrainNav update at dvl time = 575.000610 : _navData-> (x,y) = (4074727.60, 590906.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204510.89,3648.8423,N,-12158.8484,W,1,03,00.5,027.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 575.00 : -11.07 : Estimated East Bias at time = 575.00 : -6.66 : Estimated Depth Bias at time = 575.00 : -1.03 : Estimated northing and easting = 4074716.53 : 590899.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204511.89,3648.8426,N,-12158.8495,W,1,03,00.5,027.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204512.89,3648.8428,N,-12158.8505,W,1,03,00.5,027.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204513.89,3648.8431,N,-12158.8515,W,1,03,00.5,028.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204514.89,3648.8433,N,-12158.8525,W,1,03,00.5,028.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 580.000267 : TerrainNav update at dvl time = 580.000267 : _navData-> (x,y) = (4074729.89, 590898.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204515.89,3648.8436,N,-12158.8536,W,1,03,00.5,028.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 580.00 : -11.06 : Estimated East Bias at time = 580.00 : -6.58 : Estimated Depth Bias at time = 580.00 : -1.03 : Estimated northing and easting = 4074718.83 : 590892.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204516.89,3648.8438,N,-12158.8546,W,1,03,00.5,028.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204517.89,3648.8441,N,-12158.8556,W,1,03,00.5,029.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204518.89,3648.8443,N,-12158.8567,W,1,03,00.5,029.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204519.89,3648.8446,N,-12158.8577,W,1,03,00.5,029.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 584.999925 : TerrainNav update at dvl time = 584.999925 : _navData-> (x,y) = (4074732.10, 590891.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204520.89,3648.8448,N,-12158.8588,W,1,03,00.5,029.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 585.00 : -11.20 : Estimated East Bias at time = 585.00 : -7.26 : Estimated Depth Bias at time = 585.00 : -1.03 : Estimated northing and easting = 4074720.91 : 590883.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204521.89,3648.8451,N,-12158.8598,W,1,03,00.5,030.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204522.89,3648.8453,N,-12158.8608,W,1,03,00.5,030.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204523.89,3648.8456,N,-12158.8618,W,1,03,00.5,030.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204524.89,3648.8458,N,-12158.8629,W,1,03,00.5,030.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 589.999582 : TerrainNav update at dvl time = 589.999582 : _navData-> (x,y) = (4074734.27, 590883.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204525.89,3648.8460,N,-12158.8639,W,1,03,00.5,031.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 590.00 : -11.24 : Estimated East Bias at time = 590.00 : -7.43 : Estimated Depth Bias at time = 590.00 : -1.04 : Estimated northing and easting = 4074723.03 : 590875.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204526.89,3648.8463,N,-12158.8649,W,1,03,00.5,031.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204527.89,3648.8465,N,-12158.8660,W,1,03,00.5,031.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204528.89,3648.8467,N,-12158.8670,W,1,03,00.5,031.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204529.89,3648.8470,N,-12158.8680,W,1,03,00.5,031.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 594.999240 : TerrainNav update at dvl time = 594.999240 : _navData-> (x,y) = (4074736.37, 590875.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204530.89,3648.8472,N,-12158.8690,W,1,03,00.5,031.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 595.00 : -11.24 : Estimated East Bias at time = 595.00 : -7.09 : Estimated Depth Bias at time = 595.00 : -1.04 : Estimated northing and easting = 4074725.14 : 590868.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204531.89,3648.8474,N,-12158.8701,W,1,03,00.5,032.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204532.89,3648.8477,N,-12158.8711,W,1,03,00.5,032.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204533.89,3648.8479,N,-12158.8721,W,1,03,00.5,032.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204534.89,3648.8481,N,-12158.8731,W,1,03,00.5,032.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 599.998897 : TerrainNav update at dvl time = 599.998897 : _navData-> (x,y) = (4074738.44, 590868.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204535.89,3648.8484,N,-12158.8742,W,1,03,00.5,033.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 600.00 : -11.28 : Estimated East Bias at time = 600.00 : -6.58 : Estimated Depth Bias at time = 600.00 : -1.04 : Estimated northing and easting = 4074727.17 : 590861.46 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204536.89,3648.8486,N,-12158.8752,W,1,03,00.5,033.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204537.89,3648.8488,N,-12158.8762,W,1,03,00.5,033.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204538.89,3648.8491,N,-12158.8772,W,1,03,00.5,033.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204539.89,3648.8493,N,-12158.8782,W,1,03,00.5,034.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 604.998555 : TerrainNav update at dvl time = 604.998555 : _navData-> (x,y) = (4074740.54, 590860.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204540.89,3648.8496,N,-12158.8793,W,1,03,00.5,033.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 605.00 : -11.53 : Estimated East Bias at time = 605.00 : -6.46 : Estimated Depth Bias at time = 605.00 : -1.04 : Estimated northing and easting = 4074729.01 : 590853.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204541.89,3648.8498,N,-12158.8803,W,1,03,00.5,034.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204542.89,3648.8500,N,-12158.8813,W,1,03,00.5,034.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204543.89,3648.8503,N,-12158.8823,W,1,03,00.5,035.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204544.89,3648.8505,N,-12158.8833,W,1,03,00.5,035.0,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : TerrainNav update at nav time = 609.998212 : TerrainNav update at dvl time = 609.998212 : _navData-> (x,y) = (4074742.65, 590852.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204545.89,3648.8507,N,-12158.8843,W,1,03,00.5,035.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 610.00 : -11.84 : Estimated East Bias at time = 610.00 : -5.52 : Estimated Depth Bias at time = 610.00 : -1.04 : Estimated northing and easting = 4074730.81 : 590847.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204546.89,3648.8510,N,-12158.8853,W,1,03,00.5,035.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204547.89,3648.8512,N,-12158.8864,W,1,03,00.5,035.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204548.89,3648.8514,N,-12158.8874,W,1,03,00.5,036.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204549.88,3648.8517,N,-12158.8884,W,1,03,00.5,036.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 614.997870 : TerrainNav update at dvl time = 614.997870 : _navData-> (x,y) = (4074744.75, 590845.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204550.88,3648.8519,N,-12158.8894,W,1,03,00.5,036.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 615.00 : -12.17 : Estimated East Bias at time = 615.00 : -5.19 : Estimated Depth Bias at time = 615.00 : -1.04 : Estimated northing and easting = 4074732.57 : 590840.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204551.88,3648.8522,N,-12158.8904,W,1,03,00.5,037.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204552.88,3648.8524,N,-12158.8914,W,1,03,00.5,036.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204553.88,3648.8526,N,-12158.8925,W,1,03,00.5,037.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204554.88,3648.8529,N,-12158.8935,W,1,03,00.5,037.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 619.997527 : TerrainNav update at dvl time = 619.997527 : _navData-> (x,y) = (4074746.91, 590837.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204555.88,3648.8531,N,-12158.8945,W,1,03,00.5,037.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 620.00 : -12.24 : Estimated East Bias at time = 620.00 : -5.17 : Estimated Depth Bias at time = 620.00 : -1.04 : Estimated northing and easting = 4074734.67 : 590832.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204556.88,3648.8534,N,-12158.8955,W,1,03,00.5,037.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204557.88,3648.8536,N,-12158.8965,W,1,03,00.5,038.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204558.88,3648.8539,N,-12158.8976,W,1,03,00.5,038.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204559.88,3648.8541,N,-12158.8986,W,1,03,00.5,038.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 624.997185 : TerrainNav update at dvl time = 624.997185 : _navData-> (x,y) = (4074749.14, 590830.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204600.88,3648.8544,N,-12158.8996,W,1,03,00.5,039.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 625.00 : -12.61 : Estimated East Bias at time = 625.00 : -5.30 : Estimated Depth Bias at time = 625.00 : -1.04 : Estimated northing and easting = 4074736.54 : 590824.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204601.88,3648.8546,N,-12158.9006,W,1,03,00.5,039.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204602.88,3648.8549,N,-12158.9016,W,1,03,00.5,039.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204603.88,3648.8551,N,-12158.9027,W,1,03,00.5,039.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204604.88,3648.8554,N,-12158.9037,W,1,03,00.5,040.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4074751.31, 590822.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204605.88,3648.8556,N,-12158.9047,W,1,03,00.5,040.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.00 horzlMode=3 horz=4.99 speedMode=1 speed=1.50 : Estimated North Bias at time = 630.00 : -12.71 : Estimated East Bias at time = 630.00 : -4.81 : Estimated Depth Bias at time = 630.00 : -1.04 : Estimated northing and easting = 4074738.60 : 590817.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204606.88,3648.8558,N,-12158.9058,W,1,03,00.5,040.7,M,-99.9,M,,*46 : Waypoint has set the state to finished. : Waypoint (4074752.1, 590820.1), reached at t = 679.59 (wplog) : Vehicle Position is error is (0.1, 0.1) : LayeredControl::execute() -- (t = 679.593445) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 679.59 (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 = 679.593445) Behavior waypoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,204607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204607.88,3648.8561,N,-12158.9068,W,1,03,00.5,040.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204608.88,3648.8563,N,-12158.9078,W,1,03,00.5,041.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204609.88,3648.8566,N,-12158.9089,W,1,03,00.5,041.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 634.996500 : TerrainNav update at dvl time = 634.996500 : _navData-> (x,y) = (4074753.59, 590814.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204610.88,3648.8569,N,-12158.9099,W,1,03,00.5,042.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : Estimated North Bias at time = 635.00 : -12.65 : Estimated East Bias at time = 635.00 : -4.63 : Estimated Depth Bias at time = 635.00 : -1.04 : Estimated northing and easting = 4074740.94 : 590810.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204611.88,3648.8573,N,-12158.9108,W,1,03,00.5,042.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204612.88,3648.8577,N,-12158.9118,W,1,03,00.5,042.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204613.88,3648.8581,N,-12158.9126,W,1,03,00.5,042.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204614.88,3648.8586,N,-12158.9135,W,1,03,00.5,043.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 639.996157 : TerrainNav update at dvl time = 639.996157 : _navData-> (x,y) = (4074757.47, 590808.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204615.88,3648.8592,N,-12158.9142,W,1,03,00.5,042.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204616.88,3648.8598,N,-12158.9148,W,1,03,00.5,043.7,M,-99.9,M,,*48 : Estimated North Bias at time = 640.00 : -12.44 : Estimated East Bias at time = 640.00 : -4.51 : Estimated Depth Bias at time = 640.00 : -1.04 : Estimated northing and easting = 4074745.02 : 590803.55 : AshtechGps::processRecord() - $GPGGA,204617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204617.88,3648.8604,N,-12158.9153,W,1,03,00.5,043.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204618.88,3648.8611,N,-12158.9158,W,1,03,00.5,044.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204619.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204619.88,3648.8618,N,-12158.9161,W,1,03,00.5,044.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 644.995815 : TerrainNav update at dvl time = 644.995815 : _navData-> (x,y) = (4074763.23, 590804.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204620.88,3648.8624,N,-12158.9163,W,1,03,00.5,042.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : Estimated North Bias at time = 645.00 : -12.19 : Estimated East Bias at time = 645.00 : -3.67 : Estimated Depth Bias at time = 645.00 : -1.04 : Estimated northing and easting = 4074751.04 : 590800.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204621.88,3648.8630,N,-12158.9164,W,1,03,00.5,042.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204622.88,3648.8636,N,-12158.9165,W,1,03,00.5,041.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204623.88,3648.8642,N,-12158.9165,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204624.88,3648.8648,N,-12158.9165,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 649.995472 : TerrainNav update at dvl time = 649.995472 : _navData-> (x,y) = (4074768.92, 590803.84) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 650.00 : -12.20 : Estimated East Bias at time = 650.00 : -3.68 : Estimated Depth Bias at time = 650.00 : -1.04 : Estimated northing and easting = 4074756.72 : 590800.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204625.88,3648.8654,N,-12158.9165,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,204626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204626.88,3648.8661,N,-12158.9164,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,204627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204627.88,3648.8667,N,-12158.9164,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,204628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204628.88,3648.8674,N,-12158.9164,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,204629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204629.88,3648.8680,N,-12158.9163,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 654.995130 : TerrainNav update at dvl time = 654.995130 : _navData-> (x,y) = (4074774.82, 590804.06) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 655.00 : -12.18 : Estimated East Bias at time = 655.00 : -3.68 : Estimated Depth Bias at time = 655.00 : -1.04 : Estimated northing and easting = 4074762.64 : 590800.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204630.88,3648.8687,N,-12158.9163,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,204631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204631.88,3648.8693,N,-12158.9162,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204632.88,3648.8700,N,-12158.9162,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,204633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204633.89,3648.8708,N,-12158.9162,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,204634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204634.89,3648.8715,N,-12158.9162,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,204635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 659.994787 : TerrainNav update at dvl time = 659.994787 : _navData-> (x,y) = (4074781.35, 590804.07) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204635.89,3648.8723,N,-12158.9163,W,1,03,00.5,037.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 659.99 : -13.92 : Estimated East Bias at time = 659.99 : -4.08 : Estimated Depth Bias at time = 659.99 : -1.04 : Estimated northing and easting = 4074767.43 : 590800.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204636.89,3648.8730,N,-12158.9164,W,1,03,00.5,036.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204637.89,3648.8738,N,-12158.9165,W,1,03,00.5,035.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204638.89,3648.8746,N,-12158.9166,W,1,03,00.5,035.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204639.89,3648.8754,N,-12158.9168,W,1,03,00.5,035.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204640.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 664.994445 : TerrainNav update at dvl time = 664.994445 : _navData-> (x,y) = (4074788.59, 590803.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204640.89,3648.8762,N,-12158.9169,W,1,03,00.5,035.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : Estimated North Bias at time = 664.99 : -14.91 : Estimated East Bias at time = 664.99 : -4.25 : Estimated Depth Bias at time = 664.99 : -1.04 : Estimated northing and easting = 4074773.69 : 590798.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204641.89,3648.8770,N,-12158.9171,W,1,03,00.5,034.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204642.89,3648.8778,N,-12158.9173,W,1,03,00.5,035.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204643.89,3648.8786,N,-12158.9176,W,1,03,00.5,034.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204644.89,3648.8794,N,-12158.9178,W,1,03,00.5,034.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 669.994102 : TerrainNav update at dvl time = 669.994102 : _navData-> (x,y) = (4074796.06, 590801.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204645.89,3648.8803,N,-12158.9181,W,1,03,00.5,034.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : Estimated North Bias at time = 669.99 : -15.45 : Estimated East Bias at time = 669.99 : -3.88 : Estimated Depth Bias at time = 669.99 : -1.04 : Estimated northing and easting = 4074780.61 : 590797.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204646.89,3648.8811,N,-12158.9184,W,1,03,00.5,034.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204647.89,3648.8819,N,-12158.9187,W,1,03,00.5,034.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204648.89,3648.8827,N,-12158.9190,W,1,03,00.5,035.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204649.89,3648.8835,N,-12158.9193,W,1,03,00.5,035.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204650.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 674.993760 : TerrainNav update at dvl time = 674.993760 : _navData-> (x,y) = (4074803.56, 590799.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204650.89,3648.8843,N,-12158.9196,W,1,03,00.5,035.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 674.99 : -16.70 : Estimated East Bias at time = 674.99 : -3.72 : Estimated Depth Bias at time = 674.99 : -1.04 : Estimated northing and easting = 4074786.86 : 590795.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204651.89,3648.8852,N,-12158.9200,W,1,03,00.5,035.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204652.89,3648.8860,N,-12158.9203,W,1,03,00.5,035.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204653.89,3648.8868,N,-12158.9207,W,1,03,00.5,036.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204654.89,3648.8876,N,-12158.9210,W,1,03,00.5,036.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : TerrainNav update at nav time = 679.993417 : TerrainNav update at dvl time = 679.993417 : _navData-> (x,y) = (4074811.11, 590796.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204655.89,3648.8884,N,-12158.9214,W,1,03,00.5,036.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : Estimated North Bias at time = 679.99 : -17.08 : Estimated East Bias at time = 679.99 : -3.55 : Estimated Depth Bias at time = 679.99 : -1.04 : Estimated northing and easting = 4074794.02 : 590792.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204656.89,3648.8892,N,-12158.9218,W,1,03,00.5,036.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204657.89,3648.8901,N,-12158.9222,W,1,03,00.5,036.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204658.89,3648.8909,N,-12158.9225,W,1,03,00.5,037.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204659.89,3648.8917,N,-12158.9229,W,1,03,00.5,037.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 685.003074 : TerrainNav update at dvl time = 685.003074 : _navData-> (x,y) = (4074818.64, 590793.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204700.89,3648.8925,N,-12158.9233,W,1,03,00.5,038.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204701.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204701.89,3648.8933,N,-12158.9237,W,1,03,00.5,038.3,M,-99.9,M,,*40 : Estimated North Bias at time = 685.00 : -18.09 : Estimated East Bias at time = 685.00 : -3.63 : Estimated Depth Bias at time = 685.00 : -1.04 : Estimated northing and easting = 4074800.55 : 590789.91 : AshtechGps::processRecord() - $GPGGA,204702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204702.89,3648.8942,N,-12158.9241,W,1,03,00.5,038.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204703.89,3648.8950,N,-12158.9245,W,1,03,00.5,038.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204704.89,3648.8958,N,-12158.9249,W,1,03,00.5,038.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4074826.18, 590790.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204705.89,3648.8966,N,-12158.9253,W,1,03,00.5,039.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204706.89,3648.8974,N,-12158.9257,W,1,03,00.5,039.6,M,-99.9,M,,*46 : Estimated North Bias at time = 690.00 : -18.37 : Estimated East Bias at time = 690.00 : -4.13 : Estimated Depth Bias at time = 690.00 : -1.04 : Estimated northing and easting = 4074807.81 : 590786.36 : AshtechGps::processRecord() - $GPGGA,204707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204707.89,3648.8983,N,-12158.9261,W,1,03,00.5,039.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204708.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204708.89,3648.8991,N,-12158.9266,W,1,03,00.5,039.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204709.89,3648.8999,N,-12158.9270,W,1,03,00.5,040.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 695.002389 : TerrainNav update at dvl time = 695.002389 : _navData-> (x,y) = (4074833.76, 590787.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204710.89,3648.9007,N,-12158.9274,W,1,03,00.5,040.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204711.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 695.00 : -19.07 : NMEA Update: $GPGGA,204711.89,3648.9016,N,-12158.9278,W,1,03,00.5,040.7,M,-99.9,M,,*4e : Estimated East Bias at time = 695.00 : -3.80 : Estimated Depth Bias at time = 695.00 : -1.04 : Estimated northing and easting = 4074814.69 : 590783.55 : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204712.89,3648.9024,N,-12158.9282,W,1,03,00.5,041.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.00 horzlMode=3 horz=5.90 speedMode=1 speed=1.50 : Waypoint has set the state to finished. : Waypoint (4074838.2, 590784.9), reached at t = 746.20 (wplog) : Vehicle Position is error is (-0.4, -0.4) : LayeredControl::execute() -- (t = 746.198882) Behavior waypoint:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 746.20 (wplog) The current location (N,E) = 4074838.6 , 590785.3 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 313.3 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 746.2 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 746.21 Seconds. : The vehicle position is (4074838.6, 590785.3) : LayeredControl::execute() -- (t = 746.208881) Behavior waypoint_homing:-1 has changed to state Active : NMEA Update: $GPGGA,204713.89,3648.9032,N,-12158.9286,W,1,03,00.5,041.4,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,204714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 746.80 Seconds. : The vehicle position is is (4074839.5, 590785.0) : LayeredControl _resolvedCommand - vertMode=2 vert=222.61 horzlMode=3 horz=5.47 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204714.89,3648.9040,N,-12158.9290,W,1,03,00.5,041.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 700.002047 : TerrainNav update at dvl time = 700.002047 : _navData-> (x,y) = (4074841.32, 590784.22) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 748.20 Seconds. : The vehicle position is (4074841.6, 590784.1) : NMEA Update: $GPGGA,204715.89,3648.9048,N,-12158.9295,W,1,03,00.5,042.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.48 horzlMode=2 horz=5.68 speedMode=1 speed=1.00 : Estimated North Bias at time = 700.00 : -18.63 : Estimated East Bias at time = 700.00 : -3.91 : Estimated Depth Bias at time = 700.00 : -1.04 : Estimated northing and easting = 4074822.70 : 590780.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204716.89,3648.9056,N,-12158.9300,W,1,03,00.5,042.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.46 horzlMode=2 horz=5.64 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204717.89,3648.9063,N,-12158.9305,W,1,03,00.5,042.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204718.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204718.89,3648.9070,N,-12158.9310,W,1,03,00.5,042.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=222.95 horzlMode=2 horz=5.67 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204719.89,3648.9076,N,-12158.9316,W,1,03,00.5,042.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.14 horzlMode=2 horz=5.67 speedMode=1 speed=1.00 : TerrainNav update at nav time = 705.001704 : TerrainNav update at dvl time = 705.001704 : _navData-> (x,y) = (4074847.80, 590780.26) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204720.89,3648.9082,N,-12158.9321,W,1,03,00.5,042.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.15 horzlMode=2 horz=5.67 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204721.89,3648.9088,N,-12158.9327,W,1,03,00.5,042.8,M,-99.9,M,,*4c : Estimated North Bias at time = 705.00 : -18.54 : Estimated East Bias at time = 705.00 : -3.79 : Estimated Depth Bias at time = 705.00 : -1.04 : Estimated northing and easting = 4074829.26 : 590776.47 : AshtechGps::processRecord() - $GPGGA,204722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204722.89,3648.9094,N,-12158.9333,W,1,03,00.5,042.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.87 horzlMode=2 horz=5.67 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204723.89,3648.9099,N,-12158.9338,W,1,03,00.5,041.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.24 horzlMode=2 horz=5.68 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204724.89,3648.9104,N,-12158.9344,W,1,03,00.5,041.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 710.001362 : TerrainNav update at dvl time = 710.001362 : _navData-> (x,y) = (4074852.76, 590776.09) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204725.89,3648.9109,N,-12158.9349,W,1,03,00.5,041.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=222.07 horzlMode=2 horz=5.68 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204726.89,3648.9113,N,-12158.9354,W,1,03,00.5,039.8,M,-99.9,M,,*40 : Estimated North Bias at time = 710.00 : -18.01 : Estimated East Bias at time = 710.00 : -4.06 : Estimated Depth Bias at time = 710.00 : -1.04 : AshtechGps::processRecord() - $GPGGA,204727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4074834.75 : 590772.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=220.96 horzlMode=2 horz=5.69 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204727.89,3648.9118,N,-12158.9359,W,1,03,00.5,039.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=221.55 horzlMode=2 horz=5.69 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204728.89,3648.9123,N,-12158.9363,W,1,03,00.5,039.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204729.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204729.89,3648.9127,N,-12158.9368,W,1,03,00.5,039.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=220.60 horzlMode=2 horz=5.70 speedMode=1 speed=1.00 : TerrainNav update at nav time = 715.001019 : TerrainNav update at dvl time = 715.001019 : _navData-> (x,y) = (4074857.00, 590772.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204730.89,3648.9132,N,-12158.9372,W,1,03,00.5,038.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=221.11 horzlMode=2 horz=5.72 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204731.89,3648.9136,N,-12158.9376,W,1,03,00.5,038.8,M,-99.9,M,,*40 : Estimated North Bias at time = 715.00 : -18.49 : Estimated East Bias at time = 715.00 : -3.40 : Estimated Depth Bias at time = 715.00 : -1.04 : Estimated northing and easting = 4074838.51 : 590769.13 : AshtechGps::processRecord() - $GPGGA,204732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204732.89,3648.9140,N,-12158.9380,W,1,03,00.5,038.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=221.20 horzlMode=2 horz=5.73 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204733.89,3648.9145,N,-12158.9384,W,1,03,00.5,038.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=221.42 horzlMode=2 horz=5.74 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204734.89,3648.9149,N,-12158.9388,W,1,03,00.5,038.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 720.000677 : TerrainNav update at dvl time = 720.000677 : _navData-> (x,y) = (4074860.98, 590769.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=221.75 horzlMode=2 horz=5.74 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204735.89,3648.9153,N,-12158.9392,W,1,03,00.5,038.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204736.89,3648.9158,N,-12158.9395,W,1,03,00.5,037.7,M,-99.9,M,,*42 : Estimated North Bias at time = 720.00 : -18.52 : Estimated East Bias at time = 720.00 : -3.06 : Estimated Depth Bias at time = 720.00 : -1.04 : Estimated northing and easting = 4074842.46 : 590766.44 : AshtechGps::processRecord() - $GPGGA,204737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=221.76 horzlMode=2 horz=5.74 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204737.89,3648.9162,N,-12158.9399,W,1,03,00.5,038.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.06 horzlMode=2 horz=5.75 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204738.89,3648.9166,N,-12158.9403,W,1,03,00.5,037.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204739.89,3648.9170,N,-12158.9406,W,1,03,00.5,037.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=222.40 horzlMode=2 horz=5.76 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 725.000334 : TerrainNav update at dvl time = 725.000334 : _navData-> (x,y) = (4074864.85, 590766.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204740.89,3648.9174,N,-12158.9410,W,1,03,00.5,037.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.73 horzlMode=2 horz=5.77 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204741.89,3648.9178,N,-12158.9413,W,1,03,00.5,037.2,M,-99.9,M,,*4c : Estimated North Bias at time = 725.00 : -18.75 : Estimated East Bias at time = 725.00 : -2.95 : Estimated Depth Bias at time = 725.00 : -1.04 : Estimated northing and easting = 4074846.10 : 590763.78 : AshtechGps::processRecord() - $GPGGA,204742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=222.98 horzlMode=2 horz=5.78 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204742.89,3648.9182,N,-12158.9417,W,1,03,00.5,037.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204743.89,3648.9187,N,-12158.9420,W,1,03,00.5,036.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.21 horzlMode=2 horz=5.78 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204744.89,3648.9191,N,-12158.9424,W,1,03,00.5,036.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 729.999992 : TerrainNav update at dvl time = 729.999992 : _navData-> (x,y) = (4074868.61, 590764.12) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=223.37 horzlMode=2 horz=5.79 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204745.89,3648.9195,N,-12158.9427,W,1,03,00.5,036.6,M,-99.9,M,,*49 : WaypointHoming: The Usbl does NOT detect the transponder at t = 778.60 Seconds. : The vehicle position is is (4074869.1, 590763.8) : AshtechGps::processRecord() - $GPGGA,204746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204746.89,3648.9199,N,-12158.9430,W,1,03,00.5,035.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=223.14 horzlMode=3 horz=5.79 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 779.80 Seconds. : The vehicle position is (4074869.9, 590763.2) : Estimated North Bias at time = 730.00 : -18.62 : Estimated East Bias at time = 730.00 : -3.03 : Estimated Depth Bias at time = 730.00 : -1.04 : Estimated northing and easting = 4074850.00 : 590761.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204747.89,3648.9203,N,-12158.9434,W,1,03,00.5,035.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.76 horzlMode=2 horz=5.80 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204748.89,3648.9207,N,-12158.9437,W,1,03,00.5,035.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.94 horzlMode=2 horz=5.80 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204749.89,3648.9210,N,-12158.9440,W,1,03,00.5,035.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 734.999649 : TerrainNav update at dvl time = 734.999649 : _navData-> (x,y) = (4074872.24, 590761.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204750.89,3648.9214,N,-12158.9443,W,1,03,00.5,035.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=224.25 horzlMode=2 horz=5.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204751.89,3648.9218,N,-12158.9446,W,1,03,00.5,035.6,M,-99.9,M,,*4e : Estimated North Bias at time = 735.00 : -18.79 : Estimated East Bias at time = 735.00 : -3.02 : Estimated Depth Bias at time = 735.00 : -1.04 : Estimated northing and easting = 4074853.45 : 590758.65 : AshtechGps::processRecord() - $GPGGA,204752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=223.96 horzlMode=2 horz=5.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204752.89,3648.9222,N,-12158.9449,W,1,03,00.5,034.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204753.89,3648.9226,N,-12158.9452,W,1,03,00.5,035.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=225.14 horzlMode=2 horz=5.82 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204754.89,3648.9230,N,-12158.9455,W,1,03,00.5,034.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.30 horzlMode=2 horz=5.83 speedMode=1 speed=1.00 : TerrainNav update at nav time = 739.999307 : TerrainNav update at dvl time = 739.999307 : _navData-> (x,y) = (4074875.77, 590759.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204755.89,3648.9233,N,-12158.9458,W,1,03,00.5,034.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.42 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204756.89,3648.9237,N,-12158.9461,W,1,03,00.5,034.4,M,-99.9,M,,*42 : Estimated North Bias at time = 740.00 : -18.85 : Estimated East Bias at time = 740.00 : -3.30 : Estimated Depth Bias at time = 740.00 : -1.04 : Estimated northing and easting = 4074856.92 : 590756.14 : AshtechGps::processRecord() - $GPGGA,204757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204757.89,3648.9241,N,-12158.9464,W,1,03,00.5,034.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.79 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204758.89,3648.9245,N,-12158.9467,W,1,03,00.5,034.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=226.35 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204759.89,3648.9249,N,-12158.9470,W,1,03,00.5,034.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 744.998964 : TerrainNav update at dvl time = 744.998964 : _navData-> (x,y) = (4074879.23, 590757.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204800.89,3648.9252,N,-12158.9473,W,1,03,00.5,034.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=227.21 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204801.89,3648.9256,N,-12158.9476,W,1,03,00.5,034.2,M,-99.9,M,,*48 : Estimated North Bias at time = 745.00 : -18.76 : Estimated East Bias at time = 745.00 : -3.72 : Estimated Depth Bias at time = 745.00 : -1.04 : Estimated northing and easting = 4074860.46 : 590753.51 : AshtechGps::processRecord() - $GPGGA,204802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=227.66 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204802.89,3648.9260,N,-12158.9479,W,1,03,00.5,034.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=227.86 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204803.89,3648.9263,N,-12158.9482,W,1,03,00.5,034.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204804.89,3648.9267,N,-12158.9485,W,1,03,00.5,034.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.67 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : TerrainNav update at nav time = 749.998622 : TerrainNav update at dvl time = 749.998622 : _navData-> (x,y) = (4074882.63, 590754.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204805.89,3648.9271,N,-12158.9488,W,1,03,00.5,033.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.66 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204806.89,3648.9274,N,-12158.9490,W,1,03,00.5,033.9,M,-99.9,M,,*4b : Estimated North Bias at time = 750.00 : -18.90 : Estimated East Bias at time = 750.00 : -3.74 : Estimated Depth Bias at time = 750.00 : -1.04 : Estimated northing and easting = 4074863.74 : 590751.22 : AshtechGps::processRecord() - $GPGGA,204807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204807.89,3648.9278,N,-12158.9493,W,1,03,00.5,033.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=228.79 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204808.89,3648.9282,N,-12158.9496,W,1,03,00.5,033.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=229.58 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204809.89,3648.9286,N,-12158.9499,W,1,03,00.5,033.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 754.998279 : TerrainNav update at dvl time = 754.998279 : _navData-> (x,y) = (4074886.01, 590752.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=230.08 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204810.89,3648.9289,N,-12158.9502,W,1,03,00.5,033.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204811.89,3648.9293,N,-12158.9504,W,1,03,00.5,032.8,M,-99.9,M,,*48 : Estimated North Bias at time = 755.00 : -19.21 : Estimated East Bias at time = 755.00 : -3.68 : Estimated Depth Bias at time = 755.00 : -1.04 : Estimated northing and easting = 4074866.80 : 590749.13 : AshtechGps::processRecord() - $GPGGA,204812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=229.75 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204812.89,3648.9297,N,-12158.9507,W,1,03,00.5,032.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=230.68 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204813.89,3648.9300,N,-12158.9509,W,1,03,00.5,032.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204814.89,3648.9304,N,-12158.9512,W,1,03,00.5,033.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=231.30 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 759.997937 : TerrainNav update at dvl time = 759.997937 : _navData-> (x,y) = (4074889.45, 590750.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204815.88,3648.9308,N,-12158.9515,W,1,03,00.5,033.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=231.66 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204816.88,3648.9312,N,-12158.9517,W,1,03,00.5,032.2,M,-99.9,M,,*4e : Estimated North Bias at time = 760.00 : -19.30 : Estimated East Bias at time = 760.00 : -3.79 : Estimated Depth Bias at time = 760.00 : -1.04 : Estimated northing and easting = 4074870.15 : 590747.02 : AshtechGps::processRecord() - $GPGGA,204817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=231.32 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204817.88,3648.9316,N,-12158.9520,W,1,03,00.5,032.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204818.88,3648.9319,N,-12158.9523,W,1,03,00.5,032.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=231.64 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204819.88,3648.9323,N,-12158.9525,W,1,03,00.5,032.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 764.997594 : TerrainNav update at dvl time = 764.997594 : _navData-> (x,y) = (4074892.93, 590748.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=231.95 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204820.88,3648.9327,N,-12158.9528,W,1,03,00.5,032.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204821.88,3648.9331,N,-12158.9530,W,1,03,00.5,031.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=232.31 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : Estimated North Bias at time = 765.00 : -19.35 : Estimated East Bias at time = 765.00 : -3.91 : Estimated Depth Bias at time = 765.00 : -1.04 : Estimated northing and easting = 4074873.58 : 590744.93 : AshtechGps::processRecord() - $GPGGA,204822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204822.88,3648.9334,N,-12158.9533,W,1,03,00.5,031.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=232.75 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204823.88,3648.9338,N,-12158.9535,W,1,03,00.5,031.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.36 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204824.88,3648.9342,N,-12158.9538,W,1,03,00.5,031.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 769.997252 : TerrainNav update at dvl time = 769.997252 : _navData-> (x,y) = (4074896.32, 590746.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204825.88,3648.9345,N,-12158.9541,W,1,03,00.5,031.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.14 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204826.88,3648.9349,N,-12158.9543,W,1,03,00.5,031.5,M,-99.9,M,,*46 : Estimated North Bias at time = 770.00 : -19.51 : Estimated East Bias at time = 770.00 : -4.49 : Estimated Depth Bias at time = 770.00 : -1.04 : Estimated northing and easting = 4074876.80 : 590742.38 : AshtechGps::processRecord() - $GPGGA,204827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=233.75 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204827.88,3648.9352,N,-12158.9546,W,1,03,00.5,030.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204828.88,3648.9356,N,-12158.9549,W,1,03,00.5,030.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=234.36 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204829.88,3648.9360,N,-12158.9552,W,1,03,00.5,030.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=234.86 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : TerrainNav update at nav time = 774.996909 : TerrainNav update at dvl time = 774.996909 : _navData-> (x,y) = (4074899.64, 590744.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204830.88,3648.9363,N,-12158.9554,W,1,03,00.5,030.4,M,-99.9,M,,*4f : WaypointHoming has set the state to finished. : WaypointHoming (4075036.0, 590681.2), reached at t = 823.59 (wplog) : Vehicle Position error is (136.0, -63.4) : The distance to the waypoint is 150.0. : LayeredControl::execute() -- (t = 823.593580) Behavior waypoint_homing:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 823.59 (wplog) The current location (N,E) = 4074900.0 , 590744.6 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 303.7 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 823.6 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 823.60 Seconds. : The vehicle position is (4074900.0, 590744.6) : LayeredControl::execute() -- (t = 823.603579) Behavior waypoint_homing:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,204831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=234.79 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204831.88,3648.9367,N,-12158.9557,W,1,03,00.5,030.3,M,-99.9,M,,*4e : Estimated North Bias at time = 775.00 : -19.13 : Estimated East Bias at time = 775.00 : -4.99 : Estimated Depth Bias at time = 775.00 : -1.04 : Estimated northing and easting = 4074880.51 : 590739.84 : AshtechGps::processRecord() - $GPGGA,204832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204832.88,3648.9370,N,-12158.9560,W,1,03,00.5,030.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=234.92 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204833.88,3648.9374,N,-12158.9563,W,1,03,00.5,030.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=235.31 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204834.88,3648.9378,N,-12158.9565,W,1,03,00.5,030.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4074902.92, 590742.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204835.88,3648.9381,N,-12158.9568,W,1,03,00.5,029.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=235.72 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204836.88,3648.9385,N,-12158.9571,W,1,03,00.5,029.6,M,-99.9,M,,*4c : Estimated North Bias at time = 780.00 : -18.64 : Estimated East Bias at time = 780.00 : -5.63 : Estimated Depth Bias at time = 780.00 : -1.04 : Estimated northing and easting = 4074884.28 : 590737.10 : AshtechGps::processRecord() - $GPGGA,204837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=236.18 horzlMode=2 horz=5.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204837.88,3648.9388,N,-12158.9574,W,1,03,00.5,029.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.45 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204838.88,3648.9392,N,-12158.9577,W,1,03,00.5,029.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204839.88,3648.9395,N,-12158.9580,W,1,03,00.5,029.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.94 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : TerrainNav update at nav time = 784.996224 : TerrainNav update at dvl time = 784.996224 : _navData-> (x,y) = (4074906.10, 590740.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204840.88,3648.9398,N,-12158.9583,W,1,03,00.5,029.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.36 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : Estimated North Bias at time = 785.00 : -18.66 : Estimated East Bias at time = 785.00 : -5.68 : Estimated Depth Bias at time = 785.00 : -1.04 : Estimated northing and easting = 4074887.44 : 590734.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204841.88,3648.9402,N,-12158.9586,W,1,03,00.5,029.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204842.88,3648.9405,N,-12158.9589,W,1,03,00.5,029.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=237.78 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204843.88,3648.9408,N,-12158.9592,W,1,03,00.5,029.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=238.24 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204844.88,3648.9411,N,-12158.9595,W,1,03,00.5,028.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 789.995882 : TerrainNav update at dvl time = 789.995882 : _navData-> (x,y) = (4074909.11, 590738.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=238.59 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204845.88,3648.9415,N,-12158.9598,W,1,03,00.5,028.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204846.88,3648.9418,N,-12158.9601,W,1,03,00.5,028.3,M,-99.9,M,,*48 : Estimated North Bias at time = 790.00 : -18.76 : Estimated East Bias at time = 790.00 : -5.77 : Estimated Depth Bias at time = 790.00 : -1.04 : Estimated northing and easting = 4074890.36 : 590732.46 : AshtechGps::processRecord() - $GPGGA,204847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=238.64 horzlMode=2 horz=5.85 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204847.88,3648.9421,N,-12158.9604,W,1,03,00.5,028.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=239.22 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204848.88,3648.9424,N,-12158.9607,W,1,03,00.5,028.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204849.88,3648.9428,N,-12158.9610,W,1,03,00.5,028.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=239.71 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 794.995539 : TerrainNav update at dvl time = 794.995539 : _navData-> (x,y) = (4074912.10, 590736.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204850.88,3648.9431,N,-12158.9613,W,1,03,00.5,028.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=240.64 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204851.88,3648.9434,N,-12158.9616,W,1,03,00.5,028.2,M,-99.9,M,,*47 : Estimated North Bias at time = 795.00 : -18.91 : Estimated East Bias at time = 795.00 : -6.16 : Estimated Depth Bias at time = 795.00 : -1.04 : Estimated northing and easting = 4074893.19 : 590729.85 : AshtechGps::processRecord() - $GPGGA,204852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=240.92 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204852.88,3648.9437,N,-12158.9618,W,1,03,00.5,028.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204853.88,3648.9441,N,-12158.9621,W,1,03,00.5,028.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=241.35 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204854.88,3648.9444,N,-12158.9624,W,1,03,00.5,028.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 799.995197 : TerrainNav update at dvl time = 799.995197 : _navData-> (x,y) = (4074915.08, 590733.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=241.62 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204855.88,3648.9447,N,-12158.9627,W,1,03,00.5,027.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 800.00 : -18.96 : Estimated East Bias at time = 800.00 : -6.56 : Estimated Depth Bias at time = 800.00 : -1.04 : Estimated northing and easting = 4074896.12 : 590727.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204856.88,3648.9450,N,-12158.9630,W,1,03,00.5,027.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=242.04 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204857.88,3648.9454,N,-12158.9632,W,1,03,00.5,027.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=242.49 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204858.88,3648.9457,N,-12158.9635,W,1,03,00.5,027.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=243.27 horzlMode=2 horz=5.86 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204859.89,3648.9460,N,-12158.9638,W,1,03,00.5,027.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 804.994854 : TerrainNav update at dvl time = 804.994854 : _navData-> (x,y) = (4074918.03, 590731.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204900.89,3648.9463,N,-12158.9641,W,1,03,00.5,027.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=243.57 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204901.89,3648.9466,N,-12158.9644,W,1,03,00.5,027.2,M,-99.9,M,,*4d : Estimated North Bias at time = 804.99 : -18.77 : Estimated East Bias at time = 804.99 : -6.90 : Estimated Depth Bias at time = 804.99 : -1.04 : Estimated northing and easting = 4074899.25 : 590724.84 : AshtechGps::processRecord() - $GPGGA,204902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=244.08 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204902.89,3648.9470,N,-12158.9647,W,1,03,00.5,026.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204903.89,3648.9473,N,-12158.9650,W,1,03,00.5,026.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=243.98 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204904.89,3648.9476,N,-12158.9653,W,1,03,00.5,027.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=244.04 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : TerrainNav update at nav time = 809.994512 : TerrainNav update at dvl time = 809.994512 : _navData-> (x,y) = (4074920.96, 590729.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204905.89,3648.9479,N,-12158.9655,W,1,03,00.5,027.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=244.79 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : Estimated North Bias at time = 809.99 : -18.65 : Estimated East Bias at time = 809.99 : -7.12 : Estimated Depth Bias at time = 809.99 : -1.04 : Estimated northing and easting = 4074902.31 : 590722.47 : NMEA Update: $GPGGA,204906.89,3648.9483,N,-12158.9658,W,1,03,00.5,026.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204907.89,3648.9486,N,-12158.9661,W,1,03,00.5,026.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=245.13 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204908.89,3648.9489,N,-12158.9664,W,1,03,00.5,026.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=245.56 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204909.89,3648.9492,N,-12158.9667,W,1,03,00.5,026.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 814.994169 : TerrainNav update at dvl time = 814.994169 : _navData-> (x,y) = (4074923.93, 590727.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204910.89,3648.9495,N,-12158.9670,W,1,03,00.5,026.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=245.86 horzlMode=2 horz=5.87 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204911.89,3648.9499,N,-12158.9673,W,1,03,00.5,026.0,M,-99.9,M,,*4b : Estimated North Bias at time = 814.99 : -17.55 : Estimated East Bias at time = 814.99 : -7.65 : Estimated Depth Bias at time = 814.99 : -1.04 : Estimated northing and easting = 4074906.38 : 590719.77 : AshtechGps::processRecord() - $GPGGA,204912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=246.17 horzlMode=2 horz=5.88 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204912.89,3648.9502,N,-12158.9676,W,1,03,00.5,026.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=246.70 horzlMode=2 horz=5.88 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204913.89,3648.9505,N,-12158.9679,W,1,03,00.5,026.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204914.89,3648.9508,N,-12158.9681,W,1,03,00.5,026.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=247.22 horzlMode=2 horz=5.88 speedMode=1 speed=1.00 : TerrainNav update at nav time = 819.993827 : TerrainNav update at dvl time = 819.993827 : _navData-> (x,y) = (4074926.89, 590725.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204915.89,3648.9512,N,-12158.9684,W,1,03,00.5,025.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=247.58 horzlMode=2 horz=5.88 speedMode=1 speed=1.00 : Estimated North Bias at time = 819.99 : -17.14 : Estimated East Bias at time = 819.99 : -7.74 : Estimated Depth Bias at time = 819.99 : -1.04 : Estimated northing and easting = 4074909.75 : 590717.47 : NMEA Update: $GPGGA,204916.89,3648.9515,N,-12158.9687,W,1,03,00.5,025.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204917.89,3648.9518,N,-12158.9690,W,1,03,00.5,025.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=247.62 horzlMode=2 horz=5.89 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204918.89,3648.9521,N,-12158.9693,W,1,03,00.5,025.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=247.89 horzlMode=2 horz=5.89 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204919.89,3648.9524,N,-12158.9696,W,1,03,00.5,025.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 824.993484 : TerrainNav update at dvl time = 824.993484 : _navData-> (x,y) = (4074929.76, 590723.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=248.43 horzlMode=2 horz=5.89 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204920.89,3648.9527,N,-12158.9699,W,1,03,00.5,025.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204921.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204921.89,3648.9530,N,-12158.9702,W,1,03,00.5,025.1,M,-99.9,M,,*4f : Estimated North Bias at time = 824.99 : -16.28 : Estimated East Bias at time = 824.99 : -8.06 : Estimated Depth Bias at time = 824.99 : -1.04 : Estimated northing and easting = 4074913.48 : 590714.95 : AshtechGps::processRecord() - $GPGGA,204922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=248.95 horzlMode=2 horz=5.89 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204922.89,3648.9533,N,-12158.9705,W,1,03,00.5,025.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=249.39 horzlMode=2 horz=5.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204923.89,3648.9537,N,-12158.9708,W,1,03,00.5,024.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204924.89,3648.9540,N,-12158.9710,W,1,03,00.5,024.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=249.40 horzlMode=2 horz=5.90 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 830.003141 : TerrainNav update at dvl time = 830.003141 : _navData-> (x,y) = (4074932.64, 590720.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204925.89,3648.9543,N,-12158.9713,W,1,03,00.5,024.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=249.91 horzlMode=2 horz=5.90 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204926.89,3648.9546,N,-12158.9716,W,1,03,00.5,024.6,M,-99.9,M,,*4a : Estimated North Bias at time = 830.00 : -15.79 : Estimated East Bias at time = 830.00 : -8.27 : Estimated Depth Bias at time = 830.00 : -1.04 : Estimated northing and easting = 4074916.85 : 590712.60 : AshtechGps::processRecord() - $GPGGA,204927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.26 horzlMode=2 horz=5.91 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204927.89,3648.9549,N,-12158.9719,W,1,03,00.5,024.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204928.89,3648.9552,N,-12158.9722,W,1,03,00.5,024.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=250.50 horzlMode=2 horz=5.91 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204929.89,3648.9555,N,-12158.9724,W,1,03,00.5,023.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 835.002799 : TerrainNav update at dvl time = 835.002799 : _navData-> (x,y) = (4074935.52, 590718.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=250.93 horzlMode=2 horz=5.91 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204930.89,3648.9559,N,-12158.9727,W,1,03,00.5,023.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 835.00 : -15.33 : Estimated East Bias at time = 835.00 : -8.34 : Estimated Depth Bias at time = 835.00 : -1.03 : Estimated northing and easting = 4074920.19 : 590710.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204931.89,3648.9562,N,-12158.9730,W,1,03,00.5,023.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=251.39 horzlMode=2 horz=5.92 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204932.89,3648.9565,N,-12158.9733,W,1,03,00.5,023.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=252.21 horzlMode=2 horz=5.92 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204933.89,3648.9568,N,-12158.9735,W,1,03,00.5,024.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=252.70 horzlMode=2 horz=5.92 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204934.89,3648.9571,N,-12158.9738,W,1,03,00.5,024.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4074938.36, 590716.64) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204935.89,3648.9574,N,-12158.9741,W,1,03,00.5,024.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=253.33 horzlMode=2 horz=5.93 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204936.89,3648.9577,N,-12158.9744,W,1,03,00.5,024.2,M,-99.9,M,,*4a : Estimated North Bias at time = 840.00 : -14.35 : Estimated East Bias at time = 840.00 : -8.96 : Estimated Depth Bias at time = 840.00 : -1.03 : Estimated northing and easting = 4074924.02 : 590707.68 : AshtechGps::processRecord() - $GPGGA,204937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=254.22 horzlMode=2 horz=5.93 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204937.89,3648.9580,N,-12158.9747,W,1,03,00.5,024.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204938.89,3648.9583,N,-12158.9750,W,1,03,00.5,024.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=254.61 horzlMode=2 horz=5.93 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204939.89,3648.9587,N,-12158.9752,W,1,03,00.5,024.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=254.98 horzlMode=2 horz=5.93 speedMode=1 speed=1.00 : TerrainNav update at nav time = 845.002114 : TerrainNav update at dvl time = 845.002114 : _navData-> (x,y) = (4074941.25, 590714.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204940.89,3648.9590,N,-12158.9755,W,1,03,00.5,024.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=255.49 horzlMode=2 horz=5.94 speedMode=1 speed=1.00 : Estimated North Bias at time = 845.00 : -13.08 : Estimated East Bias at time = 845.00 : -9.37 : Estimated Depth Bias at time = 845.00 : -1.03 : Estimated northing and easting = 4074928.17 : 590705.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204941.89,3648.9593,N,-12158.9758,W,1,03,00.5,024.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204942.89,3648.9596,N,-12158.9760,W,1,03,00.5,023.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=255.44 horzlMode=2 horz=5.94 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204943.89,3648.9599,N,-12158.9763,W,1,03,00.5,023.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=255.73 horzlMode=2 horz=5.94 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204944.89,3648.9602,N,-12158.9766,W,1,03,00.5,023.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 850.001771 : TerrainNav update at dvl time = 850.001771 : _navData-> (x,y) = (4074944.13, 590712.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204945.89,3648.9605,N,-12158.9769,W,1,03,00.5,023.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=256.12 horzlMode=2 horz=5.95 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204946.89,3648.9609,N,-12158.9771,W,1,03,00.5,023.4,M,-99.9,M,,*40 : Estimated North Bias at time = 850.00 : -11.96 : Estimated East Bias at time = 850.00 : -9.42 : Estimated Depth Bias at time = 850.00 : -1.03 : Estimated northing and easting = 4074932.17 : 590703.08 : AshtechGps::processRecord() - $GPGGA,204947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=256.63 horzlMode=2 horz=5.95 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204947.89,3648.9612,N,-12158.9774,W,1,03,00.5,023.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=257.28 horzlMode=2 horz=5.95 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204948.89,3648.9615,N,-12158.9777,W,1,03,00.5,023.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204949.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204949.89,3648.9618,N,-12158.9780,W,1,03,00.5,023.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=257.63 horzlMode=2 horz=5.95 speedMode=1 speed=1.00 : TerrainNav update at nav time = 855.001428 : TerrainNav update at dvl time = 855.001428 : _navData-> (x,y) = (4074946.98, 590710.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204950.89,3648.9621,N,-12158.9782,W,1,03,00.5,023.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=258.19 horzlMode=2 horz=5.96 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204951.89,3648.9624,N,-12158.9785,W,1,03,00.5,023.5,M,-99.9,M,,*43 : Estimated North Bias at time = 855.00 : -10.99 : Estimated East Bias at time = 855.00 : -9.56 : Estimated Depth Bias at time = 855.00 : -1.03 : Estimated northing and easting = 4074935.99 : 590700.86 : AshtechGps::processRecord() - $GPGGA,204952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,204952.89,3648.9628,N,-12158.9788,W,1,03,00.5,023.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=258.69 horzlMode=2 horz=5.96 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,204953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204953.89,3648.9631,N,-12158.9790,W,1,03,00.5,023.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=259.02 horzlMode=2 horz=5.96 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204954.89,3648.9634,N,-12158.9793,W,1,03,00.5,023.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 860.001086 : TerrainNav update at dvl time = 860.001086 : _navData-> (x,y) = (4074949.96, 590708.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=259.32 horzlMode=2 horz=5.97 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204955.89,3648.9637,N,-12158.9796,W,1,03,00.5,023.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204956.89,3648.9641,N,-12158.9798,W,1,03,00.5,023.2,M,-99.9,M,,*4c : Estimated North Bias at time = 860.00 : -10.94 : Estimated East Bias at time = 860.00 : -9.72 : Estimated Depth Bias at time = 860.00 : -1.03 : Estimated northing and easting = 4074939.03 : 590698.66 : AshtechGps::processRecord() - $GPGGA,204957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=259.70 horzlMode=2 horz=5.97 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204957.89,3648.9644,N,-12158.9801,W,1,03,00.5,023.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=259.78 horzlMode=2 horz=5.97 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,204958.89,3648.9647,N,-12158.9804,W,1,03,00.5,022.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204959.89,3648.9651,N,-12158.9807,W,1,03,00.5,022.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=260.23 horzlMode=2 horz=5.97 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 865.000743 : TerrainNav update at dvl time = 865.000743 : _navData-> (x,y) = (4074953.05, 590706.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205000.89,3648.9654,N,-12158.9809,W,1,03,00.5,022.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=260.74 horzlMode=2 horz=5.98 speedMode=1 speed=1.00 : Estimated North Bias at time = 865.00 : -10.95 : Estimated East Bias at time = 865.00 : -9.91 : Estimated Depth Bias at time = 865.00 : -1.03 : Estimated northing and easting = 4074942.10 : 590696.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205001.89,3648.9658,N,-12158.9812,W,1,03,00.5,022.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=260.95 horzlMode=2 horz=5.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205002.89,3648.9661,N,-12158.9815,W,1,03,00.5,022.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205003.89,3648.9664,N,-12158.9818,W,1,03,00.5,022.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=261.62 horzlMode=2 horz=5.98 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205004.89,3648.9668,N,-12158.9821,W,1,03,00.5,022.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4074956.11, 590704.21) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=261.69 horzlMode=2 horz=5.99 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205005.89,3648.9671,N,-12158.9824,W,1,03,00.5,022.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205006.89,3648.9674,N,-12158.9826,W,1,03,00.5,022.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=262.29 horzlMode=2 horz=5.99 speedMode=1 speed=1.00 : Estimated North Bias at time = 870.00 : -9.84 : Estimated East Bias at time = 870.00 : -9.93 : Estimated Depth Bias at time = 870.00 : -1.03 : Estimated northing and easting = 4074946.27 : 590694.28 : AshtechGps::processRecord() - $GPGGA,205007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming has set the state to finished. : WaypointHoming (4075028.9, 590681.9), reached at t = 919.80 (wplog) : Vehicle Position error is (71.6, -21.5) : The distance to the waypoint is 74.8. : LayeredControl::execute() -- (t = 919.796990) Behavior waypoint_homing:-1 has changed to state Finished : The StartCamera Behavior has executed at t = 919.80. : LayeredControl::execute() -- (t = 919.796990) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 919.81 (wplog) The current location (N,E) = 4074957.2 , 590703.4 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 267.8 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 919.8 with dtw = 10000.00 : WaypointHoming: The Usbl has aquired the transponder at t = 919.81 Seconds. : The vehicle position is (4074957.2, 590703.4) : LayeredControl::execute() -- (t = 919.806989) Behavior waypoint_homing:-1 has changed to state Active : CameraDriver::readData - starting a 15 photo sequence. : AshtechGps::processRecord() - $GPGGA,205008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=263.11 horzlMode=2 horz=6.00 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205009.49,3648.9683,N,-12158.9834,W,1,03,00.5,023.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=263.58 horzlMode=2 horz=6.00 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 875.000058 : TerrainNav update at dvl time = 875.000058 : _navData-> (x,y) = (4074959.19, 590702.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205010.49,3648.9686,N,-12158.9837,W,1,03,00.5,023.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=263.60 horzlMode=2 horz=6.01 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205011.49,3648.9690,N,-12158.9839,W,1,03,00.5,022.6,M,-99.9,M,,*46 : Estimated North Bias at time = 875.00 : -9.85 : Estimated East Bias at time = 875.00 : -10.48 : Estimated Depth Bias at time = 875.00 : -1.03 : Estimated northing and easting = 4074949.34 : 590691.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205012.49,3648.9692,N,-12158.9841,W,1,03,00.5,023.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=264.36 horzlMode=2 horz=6.01 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205013.49,3648.9695,N,-12158.9843,W,1,03,00.5,022.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=264.42 horzlMode=2 horz=6.01 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205014.49,3648.9699,N,-12158.9846,W,1,03,00.5,022.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=265.16 horzlMode=2 horz=6.02 speedMode=1 speed=1.00 : TerrainNav update at nav time = 879.999716 : TerrainNav update at dvl time = 879.999716 : _navData-> (x,y) = (4074961.74, 590700.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205015.49,3648.9700,N,-12158.9846,W,1,03,00.5,022.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205016.49,3648.9704,N,-12158.9849,W,1,03,00.5,022.5,M,-99.9,M,,*49 : Estimated North Bias at time = 880.00 : -11.47 : Estimated East Bias at time = 880.00 : -11.73 : Estimated Depth Bias at time = 880.00 : -1.03 : LayeredControl _resolvedCommand - vertMode=2 vert=265.26 horzlMode=2 horz=6.02 speedMode=1 speed=1.00 : Estimated northing and easting = 4074950.27 : 590688.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205017.49,3648.9707,N,-12158.9852,W,1,03,00.5,022.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=257.55 horzlMode=2 horz=6.03 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205018.49,3648.9709,N,-12158.9852,W,1,03,00.5,022.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205019.49,3648.9712,N,-12158.9855,W,1,03,00.5,022.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=266.24 horzlMode=2 horz=6.03 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 884.999373 : TerrainNav update at dvl time = 884.999373 : _navData-> (x,y) = (4074964.61, 590698.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205020.49,3648.9716,N,-12158.9857,W,1,03,00.5,022.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=259.54 horzlMode=2 horz=6.04 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205021.49,3648.9718,N,-12158.9859,W,1,03,00.5,022.5,M,-99.9,M,,*41 : Estimated North Bias at time = 885.00 : -11.91 : Estimated East Bias at time = 885.00 : -12.46 : Estimated Depth Bias at time = 885.00 : -1.03 : Estimated northing and easting = 4074952.70 : 590686.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=266.90 horzlMode=2 horz=6.04 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205022.49,3648.9722,N,-12158.9861,W,1,03,00.5,022.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205023.49,3648.9726,N,-12158.9863,W,1,03,00.5,022.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=267.51 horzlMode=2 horz=6.05 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205024.49,3648.9727,N,-12158.9864,W,1,03,00.5,013.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=268.13 horzlMode=2 horz=6.06 speedMode=1 speed=1.00 : TerrainNav update at nav time = 889.999031 : TerrainNav update at dvl time = 889.999031 : _navData-> (x,y) = (4074967.34, 590697.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205025.49,3648.9731,N,-12158.9866,W,1,03,00.5,022.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205026.49,3648.9732,N,-12158.9867,W,1,03,00.5,015.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=261.51 horzlMode=2 horz=6.06 speedMode=1 speed=1.00 : Estimated North Bias at time = 890.00 : -12.97 : Estimated East Bias at time = 890.00 : -13.42 : Estimated Depth Bias at time = 890.00 : -1.03 : Estimated northing and easting = 4074954.37 : 590684.13 : AshtechGps::processRecord() - $GPGGA,205027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205027.49,3648.9736,N,-12158.9869,W,1,03,00.5,022.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=268.67 horzlMode=2 horz=6.07 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205028.49,3648.9737,N,-12158.9870,W,1,03,00.5,015.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=268.97 horzlMode=2 horz=6.07 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205029.49,3648.9741,N,-12158.9872,W,1,03,00.5,022.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 894.998688 : TerrainNav update at dvl time = 894.998688 : _navData-> (x,y) = (4074969.77, 590696.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205030.49,3648.9743,N,-12158.9874,W,1,03,00.5,021.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=269.05 horzlMode=2 horz=6.08 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205031.49,3648.9744,N,-12158.9874,W,1,03,00.5,021.9,M,-99.9,M,,*49 : Estimated North Bias at time = 895.00 : 10.62 : Estimated East Bias at time = 895.00 : -2.39 : Estimated Depth Bias at time = 895.00 : -1.05 : Estimated northing and easting = 4074980.38 : 590693.99 : AshtechGps::processRecord() - $GPGGA,205032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=269.69 horzlMode=2 horz=6.08 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205032.49,3648.9748,N,-12158.9876,W,1,03,00.5,021.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205033.49,3648.9749,N,-12158.9877,W,1,03,00.5,021.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=269.73 horzlMode=2 horz=6.08 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205034.49,3648.9751,N,-12158.9878,W,1,03,00.5,021.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.08 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4074971.74, 590695.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205035.49,3648.9755,N,-12158.9880,W,1,03,00.5,021.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.09 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205036.49,3648.9757,N,-12158.9881,W,1,03,00.5,021.8,M,-99.9,M,,*47 : Estimated North Bias at time = 900.00 : 23.05 : Estimated East Bias at time = 900.00 : -3.29 : Estimated Depth Bias at time = 900.00 : -1.00 : Estimated northing and easting = 4074994.79 : 590692.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205037.49,3648.9761,N,-12158.9883,W,1,03,00.5,021.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.09 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205038.49,3648.9764,N,-12158.9885,W,1,03,00.5,021.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.10 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205039.49,3648.9768,N,-12158.9887,W,1,03,00.5,021.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 904.998003 : TerrainNav update at dvl time = 904.998003 : _navData-> (x,y) = (4074974.87, 590694.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205040.49,3648.9772,N,-12158.9889,W,1,03,00.5,021.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.10 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205041.49,3648.9775,N,-12158.9891,W,1,03,00.5,021.7,M,-99.9,M,,*49 : Estimated North Bias at time = 905.00 : 30.29 : Estimated East Bias at time = 905.00 : -3.02 : Estimated Depth Bias at time = 905.00 : -0.97 : Estimated northing and easting = 4075005.16 : 590691.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.11 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205042.48,3648.9779,N,-12158.9893,W,1,03,00.5,021.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.12 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205043.48,3648.9783,N,-12158.9895,W,1,03,00.5,021.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205044.48,3648.9787,N,-12158.9897,W,1,03,00.5,022.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.12 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 909.997661 : TerrainNav update at dvl time = 909.997661 : _navData-> (x,y) = (4074978.30, 590692.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205045.48,3648.9790,N,-12158.9899,W,1,03,00.5,022.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.13 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205046.48,3648.9794,N,-12158.9901,W,1,03,00.5,022.1,M,-99.9,M,,*4d : Estimated North Bias at time = 910.00 : 30.50 : Estimated East Bias at time = 910.00 : -3.21 : Estimated Depth Bias at time = 910.00 : -0.98 : Estimated northing and easting = 4075008.79 : 590689.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205047.48,3648.9798,N,-12158.9903,W,1,03,00.5,022.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.14 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205048.48,3648.9802,N,-12158.9905,W,1,03,00.5,021.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.15 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205049.48,3648.9806,N,-12158.9907,W,1,03,00.5,022.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.16 speedMode=1 speed=1.00 : TerrainNav update at nav time = 914.997319 : TerrainNav update at dvl time = 914.997319 : _navData-> (x,y) = (4074981.88, 590691.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205050.48,3648.9810,N,-12158.9909,W,1,03,00.5,022.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205051.48,3648.9814,N,-12158.9911,W,1,03,00.5,022.5,M,-99.9,M,,*49 : Estimated North Bias at time = 915.00 : 31.68 : Estimated East Bias at time = 915.00 : -3.81 : Estimated Depth Bias at time = 915.00 : -0.99 : Estimated northing and easting = 4075013.57 : 590687.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.16 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205052.48,3648.9818,N,-12158.9912,W,1,03,00.5,022.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205053.48,3648.9822,N,-12158.9914,W,1,03,00.5,022.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205054.48,3648.9826,N,-12158.9916,W,1,03,00.5,022.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.17 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 919.996976 : TerrainNav update at dvl time = 919.996976 : _navData-> (x,y) = (4074985.62, 590689.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205055.48,3648.9830,N,-12158.9918,W,1,03,00.5,022.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.18 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205056.48,3648.9834,N,-12158.9919,W,1,03,00.5,022.8,M,-99.9,M,,*49 : Estimated North Bias at time = 920.00 : 32.47 : Estimated East Bias at time = 920.00 : -4.18 : Estimated Depth Bias at time = 920.00 : -0.99 : Estimated northing and easting = 4075018.09 : 590685.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.19 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205057.48,3648.9839,N,-12158.9921,W,1,03,00.5,022.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205058.48,3648.9843,N,-12158.9923,W,1,03,00.5,023.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.19 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205059.48,3648.9847,N,-12158.9925,W,1,03,00.5,022.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.21 speedMode=1 speed=1.00 : TerrainNav update at nav time = 924.996634 : TerrainNav update at dvl time = 924.996634 : _navData-> (x,y) = (4074989.51, 590688.36) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205100.48,3648.9851,N,-12158.9926,W,1,03,00.5,023.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205101.48,3648.9856,N,-12158.9928,W,1,03,00.5,023.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.21 speedMode=1 speed=1.00 : Estimated North Bias at time = 925.00 : 32.48 : Estimated East Bias at time = 925.00 : -4.25 : Estimated Depth Bias at time = 925.00 : -0.99 : Estimated northing and easting = 4075021.99 : 590684.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205102.48,3648.9860,N,-12158.9930,W,1,03,00.5,023.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.23 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205103.48,3648.9864,N,-12158.9931,W,1,03,00.5,023.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.23 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205104.48,3648.9869,N,-12158.9933,W,1,03,00.5,023.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4074993.52, 590687.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205105.48,3648.9873,N,-12158.9934,W,1,03,00.5,023.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.24 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205106.48,3648.9877,N,-12158.9936,W,1,03,00.5,023.9,M,-99.9,M,,*47 : Estimated North Bias at time = 930.00 : 32.17 : Estimated East Bias at time = 930.00 : -4.24 : Estimated Depth Bias at time = 930.00 : -0.99 : Estimated northing and easting = 4075025.69 : 590682.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.26 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205107.48,3648.9882,N,-12158.9937,W,1,03,00.5,024.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205108.48,3648.9886,N,-12158.9939,W,1,03,00.5,024.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=6.28 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205109.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205109.48,3648.9891,N,-12158.9940,W,1,03,00.5,024.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.02 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 934.995949 : TerrainNav update at dvl time = 934.995949 : _navData-> (x,y) = (4074997.58, 590686.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205110.48,3648.9895,N,-12158.9942,W,1,03,00.5,024.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.04 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205111.48,3648.9900,N,-12158.9943,W,1,03,00.5,024.1,M,-99.9,M,,*4d : Estimated North Bias at time = 935.00 : 30.70 : Estimated East Bias at time = 935.00 : -4.27 : Estimated Depth Bias at time = 935.00 : -0.99 : Estimated northing and easting = 4075028.27 : 590681.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205112.48,3648.9904,N,-12158.9944,W,1,03,00.5,024.4,M,-99.9,M,,*48 : WaypointHoming: The Usbl does NOT detect the transponder at t = 985.39 Seconds. : The vehicle position is is (4074999.6, 590685.5) : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205113.48,3648.9909,N,-12158.9946,W,1,03,00.5,024.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205114.48,3648.9913,N,-12158.9947,W,1,03,00.5,024.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 939.995606 : TerrainNav update at dvl time = 939.995606 : _navData-> (x,y) = (4075001.71, 590685.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205115.48,3648.9918,N,-12158.9948,W,1,03,00.5,024.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.05 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 988.39 Seconds. : The vehicle position is (4075002.0, 590685.0) : AshtechGps::processRecord() - $GPGGA,205116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205116.48,3648.9922,N,-12158.9949,W,1,03,00.5,024.9,M,-99.9,M,,*48 : Estimated North Bias at time = 940.00 : 28.50 : Estimated East Bias at time = 940.00 : -4.43 : Estimated Depth Bias at time = 940.00 : -0.99 : Estimated northing and easting = 4075030.21 : 590680.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.13 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205117.48,3648.9927,N,-12158.9949,W,1,03,00.5,025.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.17 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205118.48,3648.9931,N,-12158.9950,W,1,03,00.5,025.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205119.48,3648.9935,N,-12158.9950,W,1,03,00.5,025.1,M,-99.9,M,,*40 : WaypointHoming: The Usbl does NOT detect the transponder at t = 992.19 Seconds. : The vehicle position is is (4075005.2, 590684.6) : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.20 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 944.995264 : TerrainNav update at dvl time = 944.995264 : _navData-> (x,y) = (4075005.87, 590684.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205120.48,3648.9940,N,-12158.9951,W,1,03,00.5,025.1,M,-99.9,M,,*49 : WaypointHoming: The Usbl has aquired the transponder at t = 993.19 Seconds. : The vehicle position is (4075006.0, 590684.5) : AshtechGps::processRecord() - $GPGGA,205121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.23 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205121.48,3648.9945,N,-12158.9951,W,1,03,00.5,025.1,M,-99.9,M,,*4d : Estimated North Bias at time = 945.00 : 25.95 : Estimated East Bias at time = 945.00 : -4.77 : Estimated Depth Bias at time = 945.00 : -0.99 : Estimated northing and easting = 4075031.82 : 590679.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205122.48,3648.9949,N,-12158.9951,W,1,03,00.5,025.2,M,-99.9,M,,*41 : WaypointHoming: The Usbl does NOT detect the transponder at t = 995.19 Seconds. : The vehicle position is is (4075007.7, 590684.5) : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205123.48,3648.9954,N,-12158.9951,W,1,03,00.5,025.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205124.48,3648.9958,N,-12158.9951,W,1,03,00.5,025.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : TerrainNav update at nav time = 949.994921 : TerrainNav update at dvl time = 949.994921 : _navData-> (x,y) = (4075010.05, 590684.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205125.48,3648.9963,N,-12158.9951,W,1,03,00.5,025.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205126.29,3648.9966,N,-12158.9950,W,1,03,00.5,025.4,M,-99.9,M,,*48 : Estimated North Bias at time = 949.99 : 22.87 : Estimated East Bias at time = 949.99 : -5.32 : Estimated Depth Bias at time = 949.99 : -0.99 : Estimated northing and easting = 4075032.93 : 590679.17 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205127.29,3648.9971,N,-12158.9950,W,1,03,00.5,025.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.16 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205128.29,3648.9975,N,-12158.9949,W,1,03,00.5,025.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205129.29,3648.9980,N,-12158.9948,W,1,03,00.5,025.8,M,-99.9,M,,*4a : WaypointHoming: The Usbl has aquired the transponder at t = 1002.00 Seconds. : The vehicle position is (4075013.4, 590684.8) : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.26 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1002.80 Seconds. : The vehicle position is is (4075014.1, 590684.9) : NMEA Update: $GPGGA,205130.29,3648.9984,N,-12158.9948,W,1,03,00.5,025.6,M,-99.9,M,,*48 : TerrainNav update at nav time = 954.994578 : TerrainNav update at dvl time = 954.994578 : _navData-> (x,y) = (4075014.22, 590684.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.26 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205131.29,3648.9989,N,-12158.9947,W,1,03,00.5,025.7,M,-99.9,M,,*4a : Estimated North Bias at time = 954.99 : 19.73 : Estimated East Bias at time = 954.99 : -5.21 : Estimated Depth Bias at time = 954.99 : -1.00 : Estimated northing and easting = 4075033.95 : 590679.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1004.80 Seconds. : The vehicle position is (4075015.7, 590685.1) : NMEA Update: $GPGGA,205132.29,3648.9993,N,-12158.9946,W,1,03,00.5,025.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.27 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205133.29,3648.9998,N,-12158.9945,W,1,03,00.5,025.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.30 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205134.29,3649.0002,N,-12158.9944,W,1,03,00.5,025.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.30 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205135.29,3649.0007,N,-12158.9942,W,1,03,00.5,025.5,M,-99.9,M,,*4e : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4075018.37, 590685.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205136.29,3649.0011,N,-12158.9941,W,1,03,00.5,025.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.39 speedMode=1 speed=1.00 : Estimated North Bias at time = 959.99 : 18.18 : Estimated East Bias at time = 959.99 : -3.93 : Estimated Depth Bias at time = 959.99 : -0.99 : Estimated northing and easting = 4075036.55 : 590681.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1009.80 Seconds. : The vehicle position is is (4075019.9, 590685.9) : NMEA Update: $GPGGA,205137.29,3649.0016,N,-12158.9940,W,1,03,00.5,025.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.39 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205138.29,3649.0020,N,-12158.9939,W,1,03,00.5,025.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205139.29,3649.0025,N,-12158.9938,W,1,03,00.5,025.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.39 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205140.29,3649.0029,N,-12158.9937,W,1,03,00.5,025.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 964.993893 : TerrainNav update at dvl time = 964.993893 : _navData-> (x,y) = (4075022.51, 590686.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.39 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205141.29,3649.0033,N,-12158.9936,W,1,03,00.5,026.0,M,-99.9,M,,*4f : Estimated North Bias at time = 964.99 : 17.16 : Estimated East Bias at time = 964.99 : -3.37 : Estimated Depth Bias at time = 964.99 : -0.98 : Estimated northing and easting = 4075039.67 : 590682.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 1014.60 Seconds. : The vehicle position is (4075023.8, 590686.6) : AshtechGps::processRecord() - $GPGGA,205142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=2 horz=0.70 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,205142.29,3649.0038,N,-12158.9935,W,1,03,00.5,026.2,M,-99.9,M,,*46 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1015.40 Seconds. : The vehicle position is is (4075024.5, 590686.8) : AshtechGps::processRecord() - $GPGGA,205143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205143.29,3649.0042,N,-12158.9933,W,1,03,00.5,025.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.70 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205144.29,3649.0047,N,-12158.9932,W,1,03,00.5,025.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=270.00 horzlMode=3 horz=0.70 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,205145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205145.29,3649.0051,N,-12158.9930,W,1,03,00.5,025.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 969.993551 : TerrainNav update at dvl time = 969.993551 : _navData-> (x,y) = (4075026.56, 590687.42) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205146.29,3649.0055,N,-12158.9928,W,1,03,00.5,025.8,M,-99.9,M,,*4c : WaypointHoming has set the state to finished. : WaypointHoming (4075026.3, 590688.7), reached at t = 1019.00 (wplog) : Vehicle Position error is (-1.0, 1.0) : The distance to the waypoint is -0.1. : LayeredControl::execute() -- (t = 1019.000194) Behavior waypoint_homing:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1019.00 (wplog) The current location (N,E) = 4075027.3 , 590687.7 (wplog) The next waypoint = 4074913.2 , 590816.9 (wplog) The bearing to the next w.p. is 131.5 Degrees. : LayeredControl::execute() -- (t = 1019.000194) Behavior waypoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 969.99 : 15.01 : Estimated East Bias at time = 969.99 : -3.09 : Estimated Depth Bias at time = 969.99 : -0.98 : Estimated northing and easting = 4075041.57 : 590684.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205147.29,3649.0059,N,-12158.9926,W,1,03,00.5,026.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205148.29,3649.0063,N,-12158.9923,W,1,03,00.5,026.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205149.29,3649.0067,N,-12158.9920,W,1,03,00.5,026.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205150.29,3649.0071,N,-12158.9917,W,1,03,00.5,026.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 975.003208 : TerrainNav update at dvl time = 975.003208 : _navData-> (x,y) = (4075030.36, 590689.23) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205151.29,3649.0075,N,-12158.9914,W,1,03,00.5,025.7,M,-99.9,M,,*48 : Estimated North Bias at time = 975.00 : 13.43 : Estimated East Bias at time = 975.00 : -2.82 : Estimated Depth Bias at time = 975.00 : -0.98 : Estimated northing and easting = 4075043.78 : 590686.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205152.29,3649.0079,N,-12158.9910,W,1,03,00.5,025.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205153.29,3649.0083,N,-12158.9905,W,1,03,00.5,025.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205154.29,3649.0087,N,-12158.9900,W,1,03,00.5,024.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205155.29,3649.0090,N,-12158.9894,W,1,03,00.5,024.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 980.002865 : TerrainNav update at dvl time = 980.002865 : _navData-> (x,y) = (4075033.83, 590692.65) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205156.29,3649.0093,N,-12158.9888,W,1,03,00.5,024.1,M,-99.9,M,,*44 : Estimated North Bias at time = 980.00 : 11.85 : Estimated East Bias at time = 980.00 : -2.33 : Estimated Depth Bias at time = 980.00 : -0.97 : Estimated northing and easting = 4075045.67 : 590690.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205157.29,3649.0095,N,-12158.9881,W,1,03,00.5,023.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205158.29,3649.0097,N,-12158.9875,W,1,03,00.5,023.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205159.29,3649.0098,N,-12158.9867,W,1,03,00.5,022.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205200.29,3649.0099,N,-12158.9860,W,1,03,00.5,022.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : TerrainNav update at nav time = 985.002523 : TerrainNav update at dvl time = 985.002523 : _navData-> (x,y) = (4075035.56, 590697.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205201.29,3649.0099,N,-12158.9853,W,1,03,00.5,021.4,M,-99.9,M,,*49 : Estimated North Bias at time = 985.00 : 10.99 : Estimated East Bias at time = 985.00 : -1.71 : Estimated Depth Bias at time = 985.00 : -0.98 : Estimated northing and easting = 4075046.55 : 590695.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205202.29,3649.0098,N,-12158.9845,W,1,03,00.5,021.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205203.29,3649.0097,N,-12158.9838,W,1,03,00.5,021.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205204.29,3649.0095,N,-12158.9831,W,1,03,00.5,021.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205205.29,3649.0092,N,-12158.9824,W,1,03,00.5,020.9,M,-99.9,M,,*4a : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4075034.32, 590703.03) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205206.29,3649.0088,N,-12158.9818,W,1,03,00.5,021.1,M,-99.9,M,,*44 : Estimated North Bias at time = 990.00 : 10.82 : Estimated East Bias at time = 990.00 : -2.12 : Estimated Depth Bias at time = 990.00 : -0.98 : Estimated northing and easting = 4075045.14 : 590700.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205207.29,3649.0084,N,-12158.9812,W,1,03,00.5,021.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205208.29,3649.0079,N,-12158.9807,W,1,03,00.5,022.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205209.29,3649.0074,N,-12158.9803,W,1,03,00.5,022.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205210.29,3649.0068,N,-12158.9799,W,1,03,00.5,023.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 995.001838 : TerrainNav update at dvl time = 995.001838 : _navData-> (x,y) = (4075029.95, 590706.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205211.29,3649.0062,N,-12158.9796,W,1,03,00.5,023.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 995.00 : 11.38 : Estimated East Bias at time = 995.00 : -3.03 : Estimated Depth Bias at time = 995.00 : -0.98 : Estimated northing and easting = 4075041.33 : 590703.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205212.29,3649.0055,N,-12158.9795,W,1,03,00.5,024.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205213.29,3649.0049,N,-12158.9793,W,1,03,00.5,024.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205214.29,3649.0042,N,-12158.9792,W,1,03,00.5,024.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205215.29,3649.0034,N,-12158.9791,W,1,03,00.5,025.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 1000.001495 : TerrainNav update at dvl time = 1000.001495 : _navData-> (x,y) = (4075023.76, 590708.12) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205216.29,3649.0030,N,-12158.9789,W,1,03,00.5,025.3,M,-99.9,M,,*47 : Estimated North Bias at time = 1000.00 : 11.75 : Estimated East Bias at time = 1000.00 : -3.78 : Estimated Depth Bias at time = 1000.00 : -0.98 : Estimated northing and easting = 4075035.51 : 590704.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205217.29,3649.0023,N,-12158.9787,W,1,03,00.5,025.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205218.29,3649.0016,N,-12158.9785,W,1,03,00.5,024.9,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205219.29,3649.0008,N,-12158.9783,W,1,03,00.5,025.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205220.29,3649.0001,N,-12158.9780,W,1,03,00.5,025.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 1005.001153 : TerrainNav update at dvl time = 1005.001153 : _navData-> (x,y) = (4075017.61, 590709.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205221.29,3648.9994,N,-12158.9777,W,1,03,00.5,024.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 1005.00 : 12.93 : Estimated East Bias at time = 1005.00 : -4.98 : Estimated Depth Bias at time = 1005.00 : -0.98 : Estimated northing and easting = 4075030.54 : 590704.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205222.29,3648.9987,N,-12158.9774,W,1,03,00.5,024.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205223.29,3648.9980,N,-12158.9771,W,1,03,00.5,025.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205224.29,3648.9972,N,-12158.9767,W,1,03,00.5,025.7,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205225.29,3648.9965,N,-12158.9763,W,1,03,00.5,025.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 1010.000810 : TerrainNav update at dvl time = 1010.000810 : _navData-> (x,y) = (4075011.01, 590712.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205226.29,3648.9958,N,-12158.9759,W,1,03,00.5,025.8,M,-99.9,M,,*4d : Estimated North Bias at time = 1010.00 : 14.19 : Estimated East Bias at time = 1010.00 : -5.68 : Estimated Depth Bias at time = 1010.00 : -0.98 : Estimated northing and easting = 4075025.20 : 590706.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205227.29,3648.9951,N,-12158.9755,W,1,03,00.5,026.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205228.29,3648.9944,N,-12158.9750,W,1,03,00.5,026.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205229.29,3648.9937,N,-12158.9745,W,1,03,00.5,027.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205230.29,3648.9930,N,-12158.9740,W,1,03,00.5,027.2,M,-99.9,M,,*44 : TerrainNav update at nav time = 1015.000468 : TerrainNav update at dvl time = 1015.000468 : _navData-> (x,y) = (4075004.47, 590715.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205231.29,3648.9923,N,-12158.9734,W,1,03,00.5,027.7,M,-99.9,M,,*41 : Estimated North Bias at time = 1015.00 : 15.24 : Estimated East Bias at time = 1015.00 : -6.26 : Estimated Depth Bias at time = 1015.00 : -0.98 : Estimated northing and easting = 4075019.71 : 590709.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205232.29,3648.9916,N,-12158.9728,W,1,03,00.5,027.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205233.29,3648.9909,N,-12158.9722,W,1,03,00.5,027.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205234.29,3648.9903,N,-12158.9716,W,1,03,00.5,027.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205235.29,3648.9896,N,-12158.9710,W,1,03,00.5,027.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4074998.30, 590720.46) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205236.29,3648.9890,N,-12158.9703,W,1,03,00.5,027.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 1020.00 : 15.54 : Estimated East Bias at time = 1020.00 : -7.43 : Estimated Depth Bias at time = 1020.00 : -0.99 : Estimated northing and easting = 4075013.84 : 590713.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205237.29,3648.9883,N,-12158.9696,W,1,03,00.5,027.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205238.29,3648.9877,N,-12158.9689,W,1,03,00.5,027.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205239.29,3648.9871,N,-12158.9682,W,1,03,00.5,027.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205240.29,3648.9865,N,-12158.9675,W,1,03,00.5,027.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 1024.999783 : TerrainNav update at dvl time = 1024.999783 : _navData-> (x,y) = (4074992.53, 590725.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205241.29,3648.9859,N,-12158.9668,W,1,03,00.5,027.4,M,-99.9,M,,*41 : Estimated North Bias at time = 1025.00 : 13.99 : Estimated East Bias at time = 1025.00 : -8.44 : Estimated Depth Bias at time = 1025.00 : -0.99 : Estimated northing and easting = 4075006.53 : 590717.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205242.29,3648.9852,N,-12158.9661,W,1,03,00.5,027.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205243.29,3648.9846,N,-12158.9653,W,1,03,00.5,027.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205244.29,3648.9840,N,-12158.9646,W,1,03,00.5,027.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205245.29,3648.9835,N,-12158.9638,W,1,03,00.5,027.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 1029.999440 : TerrainNav update at dvl time = 1029.999440 : _navData-> (x,y) = (4074987.03, 590731.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205246.29,3648.9829,N,-12158.9630,W,1,03,00.5,027.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 1030.00 : 13.20 : Estimated East Bias at time = 1030.00 : -9.79 : Estimated Depth Bias at time = 1030.00 : -0.99 : Estimated northing and easting = 4075000.23 : 590721.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205247.29,3648.9823,N,-12158.9623,W,1,03,00.5,027.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205248.29,3648.9817,N,-12158.9615,W,1,03,00.5,027.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205249.29,3648.9811,N,-12158.9607,W,1,03,00.5,027.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205250.29,3648.9805,N,-12158.9599,W,1,03,00.5,027.5,M,-99.9,M,,*44 : TerrainNav update at nav time = 1034.999098 : TerrainNav update at dvl time = 1034.999098 : _navData-> (x,y) = (4074981.71, 590737.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205251.29,3648.9800,N,-12158.9592,W,1,03,00.5,027.6,M,-99.9,M,,*48 : Estimated North Bias at time = 1035.00 : 11.42 : Estimated East Bias at time = 1035.00 : -10.77 : Estimated Depth Bias at time = 1035.00 : -0.98 : Estimated northing and easting = 4074993.14 : 590726.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205252.29,3648.9794,N,-12158.9584,W,1,03,00.5,026.8,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205253.29,3648.9789,N,-12158.9576,W,1,03,00.5,027.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205254.29,3648.9783,N,-12158.9568,W,1,03,00.5,026.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205255.29,3648.9778,N,-12158.9560,W,1,03,00.5,026.8,M,-99.9,M,,*4e : TerrainNav update at nav time = 1039.998755 : TerrainNav update at dvl time = 1039.998755 : _navData-> (x,y) = (4074976.61, 590742.87) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205256.29,3648.9772,N,-12158.9552,W,1,03,00.5,027.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 1040.00 : 8.91 : Estimated East Bias at time = 1040.00 : -11.61 : Estimated Depth Bias at time = 1040.00 : -0.98 : Estimated northing and easting = 4074985.52 : 590731.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205257.29,3648.9767,N,-12158.9544,W,1,03,00.5,026.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205258.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205258.29,3648.9761,N,-12158.9537,W,1,03,00.5,027.0,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205259.29,3648.9756,N,-12158.9529,W,1,03,00.5,026.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205300.29,3648.9751,N,-12158.9521,W,1,03,00.5,026.5,M,-99.9,M,,*4c : TerrainNav update at nav time = 1044.998413 : TerrainNav update at dvl time = 1044.998413 : _navData-> (x,y) = (4074971.68, 590748.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205301.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205301.29,3648.9745,N,-12158.9512,W,1,03,00.5,026.8,M,-99.9,M,,*45 : Estimated North Bias at time = 1045.00 : 7.79 : Estimated East Bias at time = 1045.00 : -11.67 : Estimated Depth Bias at time = 1045.00 : -0.98 : Estimated northing and easting = 4074979.47 : 590737.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205302.29,3648.9740,N,-12158.9504,W,1,03,00.5,026.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205303.29,3648.9735,N,-12158.9496,W,1,03,00.5,026.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205304.29,3648.9730,N,-12158.9488,W,1,03,00.5,026.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205305.29,3648.9725,N,-12158.9480,W,1,03,00.5,026.7,M,-99.9,M,,*42 : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4074967.05, 590754.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205306.29,3648.9720,N,-12158.9472,W,1,03,00.5,026.7,M,-99.9,M,,*49 : Estimated North Bias at time = 1050.00 : 7.97 : Estimated East Bias at time = 1050.00 : -13.02 : Estimated Depth Bias at time = 1050.00 : -0.98 : Estimated northing and easting = 4074975.01 : 590741.94 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205307.29,3648.9715,N,-12158.9463,W,1,03,00.5,026.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205308.28,3648.9710,N,-12158.9455,W,1,03,00.5,026.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205309.28,3648.9705,N,-12158.9447,W,1,03,00.5,026.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205310.28,3648.9699,N,-12158.9439,W,1,03,00.5,026.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1054.997728 : TerrainNav update at dvl time = 1054.997728 : _navData-> (x,y) = (4074962.33, 590761.05) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205311.28,3648.9694,N,-12158.9431,W,1,03,00.5,026.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 1055.00 : 7.39 : Estimated East Bias at time = 1055.00 : -13.52 : Estimated Depth Bias at time = 1055.00 : -0.98 : Estimated northing and easting = 4074969.72 : 590747.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205312.28,3648.9689,N,-12158.9423,W,1,03,00.5,026.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205313.28,3648.9684,N,-12158.9415,W,1,03,00.5,026.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205314.28,3648.9678,N,-12158.9408,W,1,03,00.5,025.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205315.28,3648.9673,N,-12158.9400,W,1,03,00.5,026.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 1059.997385 : TerrainNav update at dvl time = 1059.997385 : _navData-> (x,y) = (4074957.52, 590766.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205316.28,3648.9668,N,-12158.9392,W,1,03,00.5,025.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1060.00 : 7.72 : Estimated East Bias at time = 1060.00 : -13.79 : Estimated Depth Bias at time = 1060.00 : -0.98 : Estimated northing and easting = 4074965.24 : 590753.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205317.28,3648.9662,N,-12158.9384,W,1,03,00.5,026.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205318.28,3648.9657,N,-12158.9377,W,1,03,00.5,026.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205319.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205319.28,3648.9651,N,-12158.9369,W,1,03,00.5,026.1,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205320.28,3648.9646,N,-12158.9361,W,1,03,00.5,025.9,M,-99.9,M,,*45 : TerrainNav update at nav time = 1064.997043 : TerrainNav update at dvl time = 1064.997043 : _navData-> (x,y) = (4074952.62, 590772.74) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205321.28,3648.9641,N,-12158.9353,W,1,03,00.5,026.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 1065.00 : 7.69 : Estimated East Bias at time = 1065.00 : -14.14 : Estimated Depth Bias at time = 1065.00 : -0.98 : Estimated northing and easting = 4074960.31 : 590758.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205322.28,3648.9635,N,-12158.9346,W,1,03,00.5,026.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205323.28,3648.9630,N,-12158.9338,W,1,03,00.5,026.1,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205324.28,3648.9624,N,-12158.9330,W,1,03,00.5,026.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205325.28,3648.9619,N,-12158.9322,W,1,03,00.5,026.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 1069.996700 : TerrainNav update at dvl time = 1069.996700 : _navData-> (x,y) = (4074947.65, 590778.57) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205326.28,3648.9613,N,-12158.9314,W,1,03,00.5,026.1,M,-99.9,M,,*4a : Estimated North Bias at time = 1070.00 : 8.12 : Estimated East Bias at time = 1070.00 : -14.61 : Estimated Depth Bias at time = 1070.00 : -0.98 : Estimated northing and easting = 4074955.77 : 590763.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205327.28,3648.9608,N,-12158.9307,W,1,03,00.5,026.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205328.28,3648.9603,N,-12158.9299,W,1,03,00.5,026.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205329.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205329.28,3648.9598,N,-12158.9291,W,1,03,00.5,026.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205330.28,3648.9592,N,-12158.9283,W,1,03,00.5,026.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 1074.996358 : TerrainNav update at dvl time = 1074.996358 : _navData-> (x,y) = (4074942.83, 590784.50) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205331.28,3648.9587,N,-12158.9275,W,1,03,00.5,026.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 1075.00 : 8.32 : Estimated East Bias at time = 1075.00 : -15.26 : Estimated Depth Bias at time = 1075.00 : -0.98 : Estimated northing and easting = 4074951.15 : 590769.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205332.28,3648.9582,N,-12158.9267,W,1,03,00.5,026.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205333.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205333.28,3648.9577,N,-12158.9259,W,1,03,00.5,026.6,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205334.28,3648.9572,N,-12158.9251,W,1,03,00.5,026.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205335.28,3648.9566,N,-12158.9243,W,1,03,00.5,026.4,M,-99.9,M,,*4f : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4074938.06, 590790.41) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205336.28,3648.9561,N,-12158.9236,W,1,03,00.5,026.4,M,-99.9,M,,*49 : Estimated North Bias at time = 1080.00 : 8.42 : Estimated East Bias at time = 1080.00 : -16.09 : Estimated Depth Bias at time = 1080.00 : -0.98 : Estimated northing and easting = 4074946.48 : 590774.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205337.28,3648.9556,N,-12158.9228,W,1,03,00.5,026.6,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205338.28,3648.9550,N,-12158.9220,W,1,03,00.5,026.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205339.28,3648.9545,N,-12158.9213,W,1,03,00.5,026.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205340.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205340.28,3648.9539,N,-12158.9205,W,1,03,00.5,026.8,M,-99.9,M,,*49 : TerrainNav update at nav time = 1084.995673 : TerrainNav update at dvl time = 1084.995673 : _navData-> (x,y) = (4074933.08, 590796.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205341.28,3648.9534,N,-12158.9198,W,1,03,00.5,026.8,M,-99.9,M,,*42 : Estimated North Bias at time = 1085.00 : 8.49 : Estimated East Bias at time = 1085.00 : -16.43 : Estimated Depth Bias at time = 1085.00 : -0.98 : Estimated northing and easting = 4074941.57 : 590779.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205342.28,3648.9528,N,-12158.9191,W,1,03,00.5,026.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205343.28,3648.9522,N,-12158.9183,W,1,03,00.5,026.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205344.28,3648.9517,N,-12158.9176,W,1,03,00.5,026.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205345.28,3648.9511,N,-12158.9168,W,1,03,00.5,027.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1089.995330 : TerrainNav update at dvl time = 1089.995330 : _navData-> (x,y) = (4074927.99, 590801.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205346.28,3648.9506,N,-12158.9161,W,1,03,00.5,027.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 1090.00 : 8.59 : Estimated East Bias at time = 1090.00 : -16.92 : Estimated Depth Bias at time = 1090.00 : -0.98 : Estimated northing and easting = 4074936.58 : 590784.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205347.28,3648.9500,N,-12158.9154,W,1,03,00.5,027.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205348.28,3648.9494,N,-12158.9146,W,1,03,00.5,027.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205349.28,3648.9489,N,-12158.9139,W,1,03,00.5,027.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205350.28,3648.9483,N,-12158.9132,W,1,03,00.5,027.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 1094.994988 : TerrainNav update at dvl time = 1094.994988 : _navData-> (x,y) = (4074922.85, 590807.14) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205351.28,3648.9477,N,-12158.9125,W,1,03,00.5,027.8,M,-99.9,M,,*42 : Estimated North Bias at time = 1094.99 : 8.75 : Estimated East Bias at time = 1094.99 : -16.82 : Estimated Depth Bias at time = 1094.99 : -0.98 : Estimated northing and easting = 4074931.60 : 590790.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205352.09,3648.9473,N,-12158.9119,W,1,03,00.5,027.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205353.09,3648.9467,N,-12158.9112,W,1,03,00.5,027.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205354.09,3648.9462,N,-12158.9105,W,1,03,00.5,027.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205355.09,3648.9456,N,-12158.9097,W,1,03,00.5,027.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1099.994645 : TerrainNav update at dvl time = 1099.994645 : _navData-> (x,y) = (4074917.68, 590812.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205356.09,3648.9450,N,-12158.9090,W,1,03,00.5,027.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Estimated North Bias at time = 1099.99 : 8.61 : Estimated East Bias at time = 1099.99 : -16.66 : Estimated Depth Bias at time = 1099.99 : -0.98 : Estimated northing and easting = 4074926.29 : 590795.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205357.09,3648.9445,N,-12158.9083,W,1,03,00.5,027.5,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205358.09,3648.9439,N,-12158.9076,W,1,03,00.5,027.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205359.09,3648.9434,N,-12158.9068,W,1,03,00.5,027.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=170.00 horzlMode=3 horz=2.29 speedMode=1 speed=1.50 : Waypoint has set the state to finished. : Waypoint (4074913.2, 590816.9), reached at t = 1152.20 (wplog) : Vehicle Position is error is (-0.2, -0.2) : LayeredControl::execute() -- (t = 1152.201069) Behavior waypoint:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1152.20 (wplog) The current location (N,E) = 4074913.4 , 590817.1 (wplog) The next waypoint = 4074786.1 , 591284.1 (wplog) The bearing to the next w.p. is 105.2 Degrees. : LayeredControl::execute() -- (t = 1152.201069) Behavior waypoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,205400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205400.09,3648.9428,N,-12158.9061,W,1,03,00.5,027.9,M,-99.9,M,,*48 : TerrainNav update at nav time = 1104.994303 : TerrainNav update at dvl time = 1104.994303 : _navData-> (x,y) = (4074912.60, 590818.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205401.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205401.09,3648.9423,N,-12158.9054,W,1,03,00.5,027.8,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1104.99 : 8.11 : Estimated East Bias at time = 1104.99 : -17.22 : Estimated Depth Bias at time = 1104.99 : -0.98 : Estimated northing and easting = 4074920.71 : 590800.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205402.09,3648.9418,N,-12158.9046,W,1,03,00.5,027.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205403.09,3648.9413,N,-12158.9038,W,1,03,00.5,027.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205404.09,3648.9410,N,-12158.9029,W,1,03,00.5,027.8,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205405.09,3648.9407,N,-12158.9020,W,1,03,00.5,027.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4074908.80, 590824.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205406.09,3648.9404,N,-12158.9012,W,1,03,00.5,026.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1109.99 : 7.65 : Estimated East Bias at time = 1109.99 : -17.38 : Estimated Depth Bias at time = 1109.99 : -0.98 : Estimated northing and easting = 4074916.45 : 590806.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205407.09,3648.9402,N,-12158.9003,W,1,03,00.5,026.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205408.09,3648.9401,N,-12158.8994,W,1,03,00.5,025.8,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205409.09,3648.9400,N,-12158.8985,W,1,03,00.5,026.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205410.09,3648.9399,N,-12158.8976,W,1,03,00.5,026.2,M,-99.9,M,,*40 : TerrainNav update at nav time = 1114.993618 : TerrainNav update at dvl time = 1114.993618 : _navData-> (x,y) = (4074907.48, 590830.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205411.09,3648.9398,N,-12158.8966,W,1,03,00.5,026.1,M,-99.9,M,,*42 : Estimated North Bias at time = 1114.99 : 6.63 : Estimated East Bias at time = 1114.99 : -16.58 : Estimated Depth Bias at time = 1114.99 : -0.98 : Estimated northing and easting = 4074914.11 : 590814.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205412.09,3648.9397,N,-12158.8957,W,1,03,00.5,026.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205413.09,3648.9397,N,-12158.8948,W,1,03,00.5,026.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205414.09,3648.9396,N,-12158.8938,W,1,03,00.5,026.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205415.09,3648.9396,N,-12158.8929,W,1,03,00.5,026.7,M,-99.9,M,,*45 : TerrainNav update at nav time = 1120.003275 : TerrainNav update at dvl time = 1120.003275 : _navData-> (x,y) = (4074906.99, 590837.82) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205416.09,3648.9395,N,-12158.8919,W,1,03,00.5,026.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1120.00 : 6.18 : Estimated East Bias at time = 1120.00 : -15.95 : Estimated Depth Bias at time = 1120.00 : -0.98 : Estimated northing and easting = 4074913.17 : 590821.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205417.09,3648.9394,N,-12158.8909,W,1,03,00.5,026.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205418.09,3648.9393,N,-12158.8900,W,1,03,00.5,027.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205419.09,3648.9392,N,-12158.8890,W,1,03,00.5,026.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205420.09,3648.9391,N,-12158.8881,W,1,03,00.5,026.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1125.002932 : TerrainNav update at dvl time = 1125.002932 : _navData-> (x,y) = (4074906.25, 590844.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205421.09,3648.9390,N,-12158.8871,W,1,03,00.5,026.1,M,-99.9,M,,*4e : Estimated North Bias at time = 1125.00 : 5.64 : Estimated East Bias at time = 1125.00 : -16.12 : Estimated Depth Bias at time = 1125.00 : -0.98 : Estimated northing and easting = 4074911.88 : 590828.84 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205422.09,3648.9389,N,-12158.8862,W,1,03,00.5,026.4,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205423.09,3648.9387,N,-12158.8852,W,1,03,00.5,025.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205424.09,3648.9386,N,-12158.8843,W,1,03,00.5,025.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205425.09,3648.9384,N,-12158.8833,W,1,03,00.5,026.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 1130.002590 : TerrainNav update at dvl time = 1130.002590 : _navData-> (x,y) = (4074905.02, 590852.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205426.09,3648.9383,N,-12158.8824,W,1,03,00.5,025.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1130.00 : 5.20 : Estimated East Bias at time = 1130.00 : -15.62 : Estimated Depth Bias at time = 1130.00 : -0.98 : Estimated northing and easting = 4074910.22 : 590836.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205427.09,3648.9381,N,-12158.8814,W,1,03,00.5,025.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205428.09,3648.9379,N,-12158.8805,W,1,03,00.5,026.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205429.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205429.09,3648.9377,N,-12158.8796,W,1,03,00.5,026.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205430.09,3648.9375,N,-12158.8786,W,1,03,00.5,026.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1135.002247 : TerrainNav update at dvl time = 1135.002247 : _navData-> (x,y) = (4074903.43, 590859.03) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205431.09,3648.9374,N,-12158.8777,W,1,03,00.5,026.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1135.00 : 4.89 : Estimated East Bias at time = 1135.00 : -16.63 : Estimated Depth Bias at time = 1135.00 : -0.98 : Estimated northing and easting = 4074908.32 : 590842.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205432.09,3648.9372,N,-12158.8767,W,1,03,00.5,026.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205433.09,3648.9369,N,-12158.8758,W,1,03,00.5,026.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205434.09,3648.9367,N,-12158.8749,W,1,03,00.5,026.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205435.09,3648.9365,N,-12158.8739,W,1,03,00.5,026.4,M,-99.9,M,,*47 : TerrainNav update at nav time = 1140.001904 : TerrainNav update at dvl time = 1140.001904 : _navData-> (x,y) = (4074901.60, 590866.02) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205436.09,3648.9363,N,-12158.8730,W,1,03,00.5,026.4,M,-99.9,M,,*4b : Estimated North Bias at time = 1140.00 : 4.47 : Estimated East Bias at time = 1140.00 : -16.91 : Estimated Depth Bias at time = 1140.00 : -0.98 : Estimated northing and easting = 4074906.06 : 590849.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205437.09,3648.9361,N,-12158.8721,W,1,03,00.5,026.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205438.09,3648.9358,N,-12158.8711,W,1,03,00.5,026.2,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205439.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205439.09,3648.9356,N,-12158.8702,W,1,03,00.5,026.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205440.09,3648.9354,N,-12158.8693,W,1,03,00.5,025.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 1145.001562 : TerrainNav update at dvl time = 1145.001562 : _navData-> (x,y) = (4074899.50, 590872.95) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205441.09,3648.9351,N,-12158.8684,W,1,03,00.5,025.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1145.00 : 3.57 : Estimated East Bias at time = 1145.00 : -17.37 : Estimated Depth Bias at time = 1145.00 : -0.99 : Estimated northing and easting = 4074903.07 : 590855.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205442.09,3648.9348,N,-12158.8674,W,1,03,00.5,025.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205443.09,3648.9346,N,-12158.8665,W,1,03,00.5,025.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205444.09,3648.9343,N,-12158.8656,W,1,03,00.5,025.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205445.09,3648.9340,N,-12158.8647,W,1,03,00.5,025.7,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1150.001220 : TerrainNav update at dvl time = 1150.001220 : _navData-> (x,y) = (4074897.13, 590879.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205446.09,3648.9338,N,-12158.8638,W,1,03,00.5,025.8,M,-99.9,M,,*44 : Estimated North Bias at time = 1150.00 : 3.47 : Estimated East Bias at time = 1150.00 : -16.80 : Estimated Depth Bias at time = 1150.00 : -0.98 : Estimated northing and easting = 4074900.59 : 590862.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205447.09,3648.9335,N,-12158.8629,W,1,03,00.5,025.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205448.09,3648.9332,N,-12158.8619,W,1,03,00.5,025.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205449.09,3648.9330,N,-12158.8610,W,1,03,00.5,025.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205450.09,3648.9327,N,-12158.8601,W,1,03,00.5,025.8,M,-99.9,M,,*47 : TerrainNav update at nav time = 1155.000877 : TerrainNav update at dvl time = 1155.000877 : _navData-> (x,y) = (4074894.75, 590886.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205451.09,3648.9325,N,-12158.8591,W,1,03,00.5,025.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1155.00 : 3.06 : Estimated East Bias at time = 1155.00 : -17.28 : Estimated Depth Bias at time = 1155.00 : -0.98 : Estimated northing and easting = 4074897.81 : 590869.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205452.09,3648.9322,N,-12158.8582,W,1,03,00.5,025.8,M,-99.9,M,,*48 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205453.09,3648.9320,N,-12158.8572,W,1,03,00.5,026.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205454.09,3648.9317,N,-12158.8563,W,1,03,00.5,025.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205455.09,3648.9315,N,-12158.8554,W,1,03,00.5,025.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1160.000535 : TerrainNav update at dvl time = 1160.000535 : _navData-> (x,y) = (4074892.63, 590893.72) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205456.09,3648.9313,N,-12158.8544,W,1,03,00.5,025.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1160.00 : 2.44 : Estimated East Bias at time = 1160.00 : -17.80 : Estimated Depth Bias at time = 1160.00 : -0.99 : Estimated northing and easting = 4074895.07 : 590875.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205457.09,3648.9311,N,-12158.8535,W,1,03,00.5,025.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205458.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205458.09,3648.9308,N,-12158.8525,W,1,03,00.5,025.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205459.09,3648.9306,N,-12158.8516,W,1,03,00.5,026.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205500.09,3648.9304,N,-12158.8506,W,1,03,00.5,026.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 1165.000192 : TerrainNav update at dvl time = 1165.000192 : _navData-> (x,y) = (4074890.59, 590900.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205501.09,3648.9301,N,-12158.8497,W,1,03,00.5,026.0,M,-99.9,M,,*40 : Estimated North Bias at time = 1165.00 : 1.62 : Estimated East Bias at time = 1165.00 : -18.80 : Estimated Depth Bias at time = 1165.00 : -0.99 : Estimated northing and easting = 4074892.21 : 590882.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205502.09,3648.9299,N,-12158.8487,W,1,03,00.5,026.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205503.09,3648.9296,N,-12158.8478,W,1,03,00.5,026.1,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205504.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205504.09,3648.9294,N,-12158.8468,W,1,03,00.5,025.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205505.09,3648.9291,N,-12158.8459,W,1,03,00.5,026.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1169.999850 : TerrainNav update at dvl time = 1169.999850 : _navData-> (x,y) = (4074888.36, 590907.89) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205506.09,3648.9289,N,-12158.8449,W,1,03,00.5,026.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1170.00 : 0.53 : Estimated East Bias at time = 1170.00 : -18.79 : Estimated Depth Bias at time = 1170.00 : -0.99 : Estimated northing and easting = 4074888.89 : 590889.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205507.09,3648.9286,N,-12158.8439,W,1,03,00.5,025.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205508.09,3648.9284,N,-12158.8430,W,1,03,00.5,025.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205509.09,3648.9282,N,-12158.8420,W,1,03,00.5,025.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205510.09,3648.9279,N,-12158.8410,W,1,03,00.5,026.3,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1174.999507 : TerrainNav update at dvl time = 1174.999507 : _navData-> (x,y) = (4074886.23, 590915.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205511.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205511.09,3648.9277,N,-12158.8401,W,1,03,00.5,025.8,M,-99.9,M,,*45 : Estimated North Bias at time = 1175.00 : -0.19 : Estimated East Bias at time = 1175.00 : -19.89 : Estimated Depth Bias at time = 1175.00 : -0.99 : Estimated northing and easting = 4074886.04 : 590895.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205512.09,3648.9275,N,-12158.8391,W,1,03,00.5,025.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205513.09,3648.9273,N,-12158.8381,W,1,03,00.5,025.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205514.09,3648.9271,N,-12158.8372,W,1,03,00.5,025.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205515.09,3648.9268,N,-12158.8362,W,1,03,00.5,025.9,M,-99.9,M,,*4c : TerrainNav update at nav time = 1179.999165 : TerrainNav update at dvl time = 1179.999165 : _navData-> (x,y) = (4074884.32, 590922.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205516.09,3648.9266,N,-12158.8352,W,1,03,00.5,026.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1180.00 : -0.76 : Estimated East Bias at time = 1180.00 : -20.69 : Estimated Depth Bias at time = 1180.00 : -0.99 : Estimated northing and easting = 4074883.57 : 590901.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205517.09,3648.9264,N,-12158.8342,W,1,03,00.5,026.0,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205518.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205518.09,3648.9262,N,-12158.8333,W,1,03,00.5,026.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205519.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205519.09,3648.9260,N,-12158.8323,W,1,03,00.5,026.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205520.09,3648.9258,N,-12158.8313,W,1,03,00.5,026.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 1184.998822 : TerrainNav update at dvl time = 1184.998822 : _navData-> (x,y) = (4074882.52, 590929.53) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205521.09,3648.9256,N,-12158.8304,W,1,03,00.5,026.3,M,-99.9,M,,*4f : Estimated North Bias at time = 1185.00 : -2.36 : Estimated East Bias at time = 1185.00 : -21.68 : Estimated Depth Bias at time = 1185.00 : -1.00 : Estimated northing and easting = 4074880.17 : 590907.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205522.09,3648.9254,N,-12158.8294,W,1,03,00.5,027.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205523.09,3648.9252,N,-12158.8284,W,1,03,00.5,027.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205524.09,3648.9250,N,-12158.8274,W,1,03,00.5,027.3,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205525.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205525.09,3648.9248,N,-12158.8265,W,1,03,00.5,027.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 1189.998480 : TerrainNav update at dvl time = 1189.998480 : _navData-> (x,y) = (4074880.76, 590936.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205526.09,3648.9246,N,-12158.8255,W,1,03,00.5,027.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1190.00 : -4.52 : Estimated East Bias at time = 1190.00 : -22.91 : Estimated Depth Bias at time = 1190.00 : -1.00 : Estimated northing and easting = 4074876.24 : 590913.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205527.09,3648.9245,N,-12158.8245,W,1,03,00.5,027.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205528.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205528.09,3648.9243,N,-12158.8235,W,1,03,00.5,027.6,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205529.09,3648.9241,N,-12158.8226,W,1,03,00.5,027.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205530.09,3648.9239,N,-12158.8216,W,1,03,00.5,027.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1194.998137 : TerrainNav update at dvl time = 1194.998137 : _navData-> (x,y) = (4074879.03, 590944.10) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205531.09,3648.9237,N,-12158.8206,W,1,03,00.5,027.6,M,-99.9,M,,*4e : Estimated North Bias at time = 1195.00 : -7.16 : Estimated East Bias at time = 1195.00 : -23.96 : Estimated Depth Bias at time = 1195.00 : -1.00 : Estimated northing and easting = 4074871.87 : 590920.14 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205532.09,3648.9235,N,-12158.8196,W,1,03,00.5,027.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205533.09,3648.9233,N,-12158.8186,W,1,03,00.5,027.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205534.08,3648.9231,N,-12158.8177,W,1,03,00.5,027.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205535.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205535.08,3648.9228,N,-12158.8167,W,1,03,00.5,028.2,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1199.997795 : TerrainNav update at dvl time = 1199.997795 : _navData-> (x,y) = (4074877.23, 590951.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205536.08,3648.9226,N,-12158.8157,W,1,03,00.5,028.1,M,-99.9,M,,*47 : Estimated North Bias at time = 1200.00 : -9.62 : Estimated East Bias at time = 1200.00 : -24.83 : Estimated Depth Bias at time = 1200.00 : -1.01 : Estimated northing and easting = 4074867.61 : 590926.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205537.08,3648.9224,N,-12158.8147,W,1,03,00.5,028.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205538.08,3648.9222,N,-12158.8137,W,1,03,00.5,028.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205539.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205539.08,3648.9220,N,-12158.8128,W,1,03,00.5,028.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205540.08,3648.9218,N,-12158.8118,W,1,03,00.5,028.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1204.997452 : TerrainNav update at dvl time = 1204.997452 : _navData-> (x,y) = (4074875.32, 590958.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205541.08,3648.9216,N,-12158.8108,W,1,03,00.5,028.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1205.00 : -12.09 : Estimated East Bias at time = 1205.00 : -26.60 : Estimated Depth Bias at time = 1205.00 : -1.01 : Estimated northing and easting = 4074863.23 : 590932.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205542.08,3648.9214,N,-12158.8098,W,1,03,00.5,029.0,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205543.08,3648.9212,N,-12158.8089,W,1,03,00.5,028.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205544.08,3648.9210,N,-12158.8079,W,1,03,00.5,029.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205545.08,3648.9208,N,-12158.8069,W,1,03,00.5,029.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 1209.997110 : TerrainNav update at dvl time = 1209.997110 : _navData-> (x,y) = (4074873.63, 590965.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205546.08,3648.9206,N,-12158.8059,W,1,03,00.5,029.4,M,-99.9,M,,*49 : Estimated North Bias at time = 1210.00 : -14.39 : Estimated East Bias at time = 1210.00 : -27.78 : Estimated Depth Bias at time = 1210.00 : -1.01 : Estimated northing and easting = 4074859.24 : 590938.17 : AshtechGps::processRecord() - $GPGGA,205547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205547.08,3648.9204,N,-12158.8050,W,1,03,00.5,029.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205548.08,3648.9202,N,-12158.8040,W,1,03,00.5,029.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205549.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205549.08,3648.9200,N,-12158.8031,W,1,03,00.5,029.7,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205550.08,3648.9198,N,-12158.8021,W,1,03,00.5,029.9,M,-99.9,M,,*48 : TerrainNav update at nav time = 1214.996767 : TerrainNav update at dvl time = 1214.996767 : _navData-> (x,y) = (4074871.89, 590973.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205551.08,3648.9196,N,-12158.8011,W,1,03,00.5,030.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1215.00 : -15.76 : Estimated East Bias at time = 1215.00 : -28.73 : Estimated Depth Bias at time = 1215.00 : -1.02 : Estimated northing and easting = 4074856.13 : 590944.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205552.08,3648.9194,N,-12158.8002,W,1,03,00.5,030.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205553.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205553.08,3648.9192,N,-12158.7993,W,1,03,00.5,030.8,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205554.08,3648.9189,N,-12158.7983,W,1,03,00.5,031.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205555.08,3648.9187,N,-12158.7974,W,1,03,00.5,031.2,M,-99.9,M,,*47 : TerrainNav update at nav time = 1219.996425 : TerrainNav update at dvl time = 1219.996425 : _navData-> (x,y) = (4074869.85, 590980.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205556.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205556.08,3648.9185,N,-12158.7965,W,1,03,00.5,031.5,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1220.00 : -16.35 : Estimated East Bias at time = 1220.00 : -29.35 : Estimated Depth Bias at time = 1220.00 : -1.02 : Estimated northing and easting = 4074853.49 : 590950.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205557.08,3648.9182,N,-12158.7956,W,1,03,00.5,031.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205558.08,3648.9180,N,-12158.7947,W,1,03,00.5,031.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205559.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205559.08,3648.9177,N,-12158.7938,W,1,03,00.5,031.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205600.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205600.08,3648.9175,N,-12158.7929,W,1,03,00.5,031.9,M,-99.9,M,,*4a : TerrainNav update at nav time = 1224.996082 : TerrainNav update at dvl time = 1224.996082 : _navData-> (x,y) = (4074867.73, 590986.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205601.08,3648.9173,N,-12158.7919,W,1,03,00.5,031.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1225.00 : -16.79 : Estimated East Bias at time = 1225.00 : -29.89 : Estimated Depth Bias at time = 1225.00 : -1.02 : Estimated northing and easting = 4074850.94 : 590957.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205602.08,3648.9170,N,-12158.7910,W,1,03,00.5,032.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205603.08,3648.9168,N,-12158.7901,W,1,03,00.5,032.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205604.08,3648.9166,N,-12158.7892,W,1,03,00.5,032.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205605.08,3648.9163,N,-12158.7883,W,1,03,00.5,032.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1229.995740 : TerrainNav update at dvl time = 1229.995740 : _navData-> (x,y) = (4074865.64, 590993.70) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205606.08,3648.9161,N,-12158.7874,W,1,03,00.5,033.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1230.00 : -17.02 : Estimated East Bias at time = 1230.00 : -30.53 : Estimated Depth Bias at time = 1230.00 : -1.02 : Estimated northing and easting = 4074848.62 : 590963.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205607.08,3648.9159,N,-12158.7865,W,1,03,00.5,033.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205608.08,3648.9157,N,-12158.7856,W,1,03,00.5,033.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205609.08,3648.9154,N,-12158.7847,W,1,03,00.5,033.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205610.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205610.08,3648.9152,N,-12158.7838,W,1,03,00.5,034.0,M,-99.9,M,,*43 : TerrainNav update at nav time = 1234.995397 : TerrainNav update at dvl time = 1234.995397 : _navData-> (x,y) = (4074863.63, 591000.44) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205611.08,3648.9150,N,-12158.7829,W,1,03,00.5,034.1,M,-99.9,M,,*41 : Estimated North Bias at time = 1235.00 : -17.31 : Estimated East Bias at time = 1235.00 : -32.39 : Estimated Depth Bias at time = 1235.00 : -1.02 : Estimated northing and easting = 4074846.32 : 590968.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205612.08,3648.9148,N,-12158.7820,W,1,03,00.5,034.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205613.08,3648.9145,N,-12158.7811,W,1,03,00.5,034.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205614.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205614.08,3648.9143,N,-12158.7801,W,1,03,00.5,034.3,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205615.08,3648.9140,N,-12158.7792,W,1,03,00.5,035.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1239.995054 : TerrainNav update at dvl time = 1239.995054 : _navData-> (x,y) = (4074861.53, 591007.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205616.08,3648.9138,N,-12158.7783,W,1,03,00.5,034.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1240.00 : -17.62 : Estimated East Bias at time = 1240.00 : -33.64 : Estimated Depth Bias at time = 1240.00 : -1.02 : Estimated northing and easting = 4074843.91 : 590973.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205617.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205617.08,3648.9136,N,-12158.7774,W,1,03,00.5,035.4,M,-99.9,M,,*44 : NMEA Update: $GPGGA,205617.89,3648.9134,N,-12158.7767,W,1,03,00.5,035.8,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205618.89,3648.9131,N,-12158.7757,W,1,03,00.5,035.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205619.89,3648.9129,N,-12158.7748,W,1,03,00.5,035.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1244.994712 : TerrainNav update at dvl time = 1244.994712 : _navData-> (x,y) = (4074859.38, 591014.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205620.89,3648.9126,N,-12158.7739,W,1,03,00.5,035.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205621.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1244.99 : -17.93 : Estimated East Bias at time = 1244.99 : -34.19 : Estimated Depth Bias at time = 1244.99 : -1.02 : Estimated northing and easting = 4074841.45 : 590979.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205621.89,3648.9124,N,-12158.7730,W,1,03,00.5,036.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205622.89,3648.9122,N,-12158.7720,W,1,03,00.5,036.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205623.89,3648.9120,N,-12158.7711,W,1,03,00.5,036.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205624.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205624.89,3648.9117,N,-12158.7702,W,1,03,00.5,036.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1249.994370 : TerrainNav update at dvl time = 1249.994370 : _navData-> (x,y) = (4074857.31, 591021.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205625.89,3648.9115,N,-12158.7692,W,1,03,00.5,037.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1249.99 : -18.33 : Estimated East Bias at time = 1249.99 : -33.84 : Estimated Depth Bias at time = 1249.99 : -1.02 : Estimated northing and easting = 4074838.98 : 590987.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205626.89,3648.9113,N,-12158.7683,W,1,03,00.5,037.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205627.89,3648.9111,N,-12158.7674,W,1,03,00.5,037.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205628.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205628.89,3648.9109,N,-12158.7664,W,1,03,00.5,037.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205629.89,3648.9107,N,-12158.7654,W,1,03,00.5,037.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205630.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1254.994027 : TerrainNav update at dvl time = 1254.994027 : _navData-> (x,y) = (4074855.42, 591028.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205630.89,3648.9104,N,-12158.7645,W,1,03,00.5,038.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205631.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1254.99 : -18.67 : Estimated East Bias at time = 1254.99 : -33.62 : Estimated Depth Bias at time = 1254.99 : -1.02 : Estimated northing and easting = 4074836.75 : 590994.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205631.89,3648.9102,N,-12158.7635,W,1,03,00.5,038.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205632.89,3648.9100,N,-12158.7625,W,1,03,00.5,038.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205633.89,3648.9099,N,-12158.7616,W,1,03,00.5,038.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205634.89,3648.9097,N,-12158.7606,W,1,03,00.5,039.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205635.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1259.993685 : TerrainNav update at dvl time = 1259.993685 : _navData-> (x,y) = (4074853.68, 591035.32) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205635.89,3648.9095,N,-12158.7596,W,1,03,00.5,039.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1259.99 : -18.96 : Estimated East Bias at time = 1259.99 : -32.95 : Estimated Depth Bias at time = 1259.99 : -1.02 : Estimated northing and easting = 4074834.72 : 591002.37 : NMEA Update: $GPGGA,205636.89,3648.9093,N,-12158.7586,W,1,03,00.5,039.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205637.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205637.89,3648.9091,N,-12158.7577,W,1,03,00.5,039.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205638.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205638.89,3648.9089,N,-12158.7567,W,1,03,00.5,040.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205639.89,3648.9087,N,-12158.7557,W,1,03,00.5,039.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1264.993342 : TerrainNav update at dvl time = 1264.993342 : _navData-> (x,y) = (4074851.90, 591042.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205640.89,3648.9085,N,-12158.7547,W,1,03,00.5,040.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1264.99 : -19.35 : Estimated East Bias at time = 1264.99 : -34.40 : Estimated Depth Bias at time = 1264.99 : -1.02 : Estimated northing and easting = 4074832.55 : 591008.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205641.89,3648.9082,N,-12158.7538,W,1,03,00.5,040.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205642.89,3648.9080,N,-12158.7528,W,1,03,00.5,041.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205643.89,3648.9078,N,-12158.7518,W,1,03,00.5,041.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205644.89,3648.9076,N,-12158.7508,W,1,03,00.5,041.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1270.002999 : TerrainNav update at dvl time = 1270.002999 : _navData-> (x,y) = (4074850.08, 591049.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205645.89,3648.9074,N,-12158.7498,W,1,03,00.5,041.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1270.00 : -19.78 : Estimated East Bias at time = 1270.00 : -34.35 : Estimated Depth Bias at time = 1270.00 : -1.02 : Estimated northing and easting = 4074830.30 : 591015.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205646.89,3648.9072,N,-12158.7488,W,1,03,00.5,041.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205647.89,3648.9070,N,-12158.7479,W,1,03,00.5,042.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205648.89,3648.9068,N,-12158.7469,W,1,03,00.5,042.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205649.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205649.89,3648.9066,N,-12158.7459,W,1,03,00.5,042.7,M,-99.9,M,,*4d : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1275.002656 : TerrainNav update at dvl time = 1275.002656 : _navData-> (x,y) = (4074848.24, 591057.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205650.89,3648.9064,N,-12158.7449,W,1,03,00.5,042.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205651.89,3648.9062,N,-12158.7440,W,1,03,00.5,042.9,M,-99.9,M,,*46 : Estimated North Bias at time = 1275.00 : -20.16 : Estimated East Bias at time = 1275.00 : -34.74 : Estimated Depth Bias at time = 1275.00 : -1.02 : Estimated northing and easting = 4074828.08 : 591022.46 : AshtechGps::processRecord() - $GPGGA,205652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205652.89,3648.9060,N,-12158.7430,W,1,03,00.5,043.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205653.89,3648.9057,N,-12158.7420,W,1,03,00.5,043.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205654.89,3648.9055,N,-12158.7410,W,1,03,00.5,043.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1280.002314 : TerrainNav update at dvl time = 1280.002314 : _navData-> (x,y) = (4074846.32, 591064.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205655.89,3648.9053,N,-12158.7400,W,1,03,00.5,044.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205656.89,3648.9051,N,-12158.7391,W,1,03,00.5,044.3,M,-99.9,M,,*46 : Estimated North Bias at time = 1280.00 : -20.54 : Estimated East Bias at time = 1280.00 : -35.26 : Estimated Depth Bias at time = 1280.00 : -1.02 : Estimated northing and easting = 4074825.78 : 591029.26 : AshtechGps::processRecord() - $GPGGA,205657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205657.89,3648.9048,N,-12158.7381,W,1,03,00.5,044.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205658.89,3648.9046,N,-12158.7371,W,1,03,00.5,044.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205659.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205659.89,3648.9043,N,-12158.7361,W,1,03,00.5,044.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1285.001971 : TerrainNav update at dvl time = 1285.001971 : _navData-> (x,y) = (4074844.20, 591071.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205700.89,3648.9041,N,-12158.7352,W,1,03,00.5,044.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205701.89,3648.9039,N,-12158.7342,W,1,03,00.5,044.7,M,-99.9,M,,*41 : Estimated North Bias at time = 1285.00 : -20.86 : Estimated East Bias at time = 1285.00 : -34.65 : Estimated Depth Bias at time = 1285.00 : -1.02 : Estimated northing and easting = 4074823.33 : 591037.14 : AshtechGps::processRecord() - $GPGGA,205702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205702.89,3648.9037,N,-12158.7332,W,1,03,00.5,045.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205703.89,3648.9034,N,-12158.7323,W,1,03,00.5,045.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205704.89,3648.9032,N,-12158.7313,W,1,03,00.5,045.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4074842.20, 591078.98) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205705.89,3648.9030,N,-12158.7303,W,1,03,00.5,045.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1290.00 : -21.22 : Estimated East Bias at time = 1290.00 : -34.38 : Estimated Depth Bias at time = 1290.00 : -1.02 : Estimated northing and easting = 4074820.98 : 591044.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205706.89,3648.9028,N,-12158.7294,W,1,03,00.5,046.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205707.89,3648.9026,N,-12158.7284,W,1,03,00.5,046.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205708.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205708.89,3648.9024,N,-12158.7274,W,1,03,00.5,046.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205709.89,3648.9021,N,-12158.7264,W,1,03,00.5,046.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1295.001287 : TerrainNav update at dvl time = 1295.001287 : _navData-> (x,y) = (4074840.30, 591086.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205710.89,3648.9019,N,-12158.7255,W,1,03,00.5,046.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205711.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205711.89,3648.9017,N,-12158.7245,W,1,03,00.5,047.1,M,-99.9,M,,*4f : Estimated North Bias at time = 1295.00 : -21.51 : Estimated East Bias at time = 1295.00 : -33.80 : Estimated Depth Bias at time = 1295.00 : -1.02 : Estimated northing and easting = 4074818.79 : 591052.45 : AshtechGps::processRecord() - $GPGGA,205712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205712.89,3648.9015,N,-12158.7235,W,1,03,00.5,047.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205713.89,3648.9012,N,-12158.7226,W,1,03,00.5,047.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205714.89,3648.9010,N,-12158.7216,W,1,03,00.5,047.4,M,-99.9,M,,*4e : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1300.000944 : TerrainNav update at dvl time = 1300.000944 : _navData-> (x,y) = (4074838.17, 591093.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205715.89,3648.9007,N,-12158.7206,W,1,03,00.5,047.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1300.00 : -21.93 : Estimated East Bias at time = 1300.00 : -33.65 : Estimated Depth Bias at time = 1300.00 : -1.02 : Estimated northing and easting = 4074816.24 : 591059.83 : NMEA Update: $GPGGA,205716.89,3648.9005,N,-12158.7197,W,1,03,00.5,047.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205717.89,3648.9002,N,-12158.7187,W,1,03,00.5,048.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205718.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205718.89,3648.9000,N,-12158.7177,W,1,03,00.5,048.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205719.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205719.89,3648.8997,N,-12158.7168,W,1,03,00.5,048.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1305.000602 : TerrainNav update at dvl time = 1305.000602 : _navData-> (x,y) = (4074835.95, 591100.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205720.89,3648.8995,N,-12158.7158,W,1,03,00.5,048.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205721.89,3648.8992,N,-12158.7148,W,1,03,00.5,048.4,M,-99.9,M,,*4d : Estimated North Bias at time = 1305.00 : -22.46 : Estimated East Bias at time = 1305.00 : -33.75 : Estimated Depth Bias at time = 1305.00 : -1.03 : Estimated northing and easting = 4074813.49 : 591066.91 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205722.89,3648.8990,N,-12158.7139,W,1,03,00.5,049.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205723.89,3648.8988,N,-12158.7129,W,1,03,00.5,049.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205724.89,3648.8985,N,-12158.7119,W,1,03,00.5,049.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1310.000259 : TerrainNav update at dvl time = 1310.000259 : _navData-> (x,y) = (4074833.88, 591107.90) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205725.89,3648.8983,N,-12158.7109,W,1,03,00.5,049.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205726.89,3648.8981,N,-12158.7100,W,1,03,00.5,049.3,M,-99.9,M,,*42 : Estimated North Bias at time = 1310.00 : -22.89 : Estimated East Bias at time = 1310.00 : -33.59 : Estimated Depth Bias at time = 1310.00 : -1.03 : Estimated northing and easting = 4074810.99 : 591074.31 : AshtechGps::processRecord() - $GPGGA,205727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205727.89,3648.8979,N,-12158.7090,W,1,03,00.5,049.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205728.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205728.89,3648.8977,N,-12158.7080,W,1,03,00.5,049.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205729.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205729.89,3648.8974,N,-12158.7070,W,1,03,00.5,049.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1314.999916 : TerrainNav update at dvl time = 1314.999916 : _navData-> (x,y) = (4074831.92, 591115.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205730.89,3648.8972,N,-12158.7061,W,1,03,00.5,049.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205731.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1315.00 : -23.52 : Estimated East Bias at time = 1315.00 : -34.17 : Estimated Depth Bias at time = 1315.00 : -1.03 : Estimated northing and easting = 4074808.40 : 591081.01 : NMEA Update: $GPGGA,205731.89,3648.8970,N,-12158.7051,W,1,03,00.5,050.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205732.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205732.89,3648.8968,N,-12158.7041,W,1,03,00.5,050.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205733.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205733.89,3648.8965,N,-12158.7032,W,1,03,00.5,051.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205734.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205734.89,3648.8963,N,-12158.7022,W,1,03,00.5,050.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1319.999574 : TerrainNav update at dvl time = 1319.999574 : _navData-> (x,y) = (4074829.94, 591122.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205735.89,3648.8961,N,-12158.7012,W,1,03,00.5,051.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205736.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205736.89,3648.8959,N,-12158.7003,W,1,03,00.5,050.8,M,-99.9,M,,*47 : Estimated North Bias at time = 1320.00 : -24.20 : Estimated East Bias at time = 1320.00 : -33.39 : Estimated Depth Bias at time = 1320.00 : -1.03 : Estimated northing and easting = 4074805.74 : 591088.98 : AshtechGps::processRecord() - $GPGGA,205737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205737.89,3648.8957,N,-12158.6993,W,1,03,00.5,051.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205738.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205738.89,3648.8955,N,-12158.6983,W,1,03,00.5,051.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205739.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205739.89,3648.8953,N,-12158.6974,W,1,03,00.5,051.5,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205740.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1324.999231 : TerrainNav update at dvl time = 1324.999231 : _navData-> (x,y) = (4074828.13, 591129.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205740.89,3648.8951,N,-12158.6964,W,1,03,00.5,051.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205741.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205741.89,3648.8949,N,-12158.6954,W,1,03,00.5,051.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1325.00 : -24.99 : Estimated East Bias at time = 1325.00 : -32.58 : Estimated Depth Bias at time = 1325.00 : -1.03 : Estimated northing and easting = 4074803.14 : 591097.05 : AshtechGps::processRecord() - $GPGGA,205742.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205742.89,3648.8947,N,-12158.6944,W,1,03,00.5,051.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205743.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205743.89,3648.8945,N,-12158.6935,W,1,03,00.5,052.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205744.89,3648.8943,N,-12158.6925,W,1,03,00.5,051.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205745.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1329.998889 : TerrainNav update at dvl time = 1329.998889 : _navData-> (x,y) = (4074826.38, 591136.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205745.89,3648.8941,N,-12158.6915,W,1,03,00.5,051.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205746.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1330.00 : -25.66 : Estimated East Bias at time = 1330.00 : -31.77 : Estimated Depth Bias at time = 1330.00 : -1.03 : Estimated northing and easting = 4074800.72 : 591105.07 : NMEA Update: $GPGGA,205746.89,3648.8939,N,-12158.6906,W,1,03,00.5,052.2,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205747.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205747.89,3648.8937,N,-12158.6896,W,1,03,00.5,052.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205748.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205748.89,3648.8935,N,-12158.6887,W,1,03,00.5,052.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205749.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205749.89,3648.8932,N,-12158.6877,W,1,03,00.5,052.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205750.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1334.998546 : TerrainNav update at dvl time = 1334.998546 : _navData-> (x,y) = (4074824.46, 591143.99) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205750.89,3648.8930,N,-12158.6867,W,1,03,00.5,052.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205751.89,3648.8928,N,-12158.6858,W,1,03,00.5,052.2,M,-99.9,M,,*4f : Estimated North Bias at time = 1335.00 : -26.64 : Estimated East Bias at time = 1335.00 : -30.81 : Estimated Depth Bias at time = 1335.00 : -1.03 : Estimated northing and easting = 4074797.82 : 591113.19 : AshtechGps::processRecord() - $GPGGA,205752.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205752.89,3648.8926,N,-12158.6848,W,1,03,00.5,052.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205753.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205753.89,3648.8924,N,-12158.6839,W,1,03,00.5,052.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205754.89,3648.8922,N,-12158.6829,W,1,03,00.5,052.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1339.998204 : TerrainNav update at dvl time = 1339.998204 : _navData-> (x,y) = (4074822.59, 591151.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205755.89,3648.8920,N,-12158.6820,W,1,03,00.5,052.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205756.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205756.89,3648.8918,N,-12158.6810,W,1,03,00.5,052.8,M,-99.9,M,,*4d : Estimated North Bias at time = 1340.00 : -27.33 : Estimated East Bias at time = 1340.00 : -30.57 : Estimated Depth Bias at time = 1340.00 : -1.04 : Estimated northing and easting = 4074795.26 : 591120.53 : AshtechGps::processRecord() - $GPGGA,205757.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205757.89,3648.8916,N,-12158.6801,W,1,03,00.5,052.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205758.89,3648.8914,N,-12158.6792,W,1,03,00.5,052.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205759.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205759.88,3648.8913,N,-12158.6782,W,1,03,00.5,053.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205800.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1344.997861 : TerrainNav update at dvl time = 1344.997861 : _navData-> (x,y) = (4074820.95, 591158.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205800.88,3648.8911,N,-12158.6773,W,1,03,00.5,053.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205801.88,3648.8909,N,-12158.6764,W,1,03,00.5,052.9,M,-99.9,M,,*4c : Estimated North Bias at time = 1345.00 : -27.89 : Estimated East Bias at time = 1345.00 : -31.01 : Estimated Depth Bias at time = 1345.00 : -1.04 : Estimated northing and easting = 4074793.06 : 591127.09 : AshtechGps::processRecord() - $GPGGA,205802.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205802.88,3648.8906,N,-12158.6754,W,1,03,00.5,053.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205803.88,3648.8904,N,-12158.6745,W,1,03,00.5,053.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205804.88,3648.8902,N,-12158.6736,W,1,03,00.5,053.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1349.997519 : TerrainNav update at dvl time = 1349.997519 : _navData-> (x,y) = (4074819.16, 591165.03) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205805.88,3648.8901,N,-12158.6727,W,1,03,00.5,054.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205806.88,3648.8899,N,-12158.6717,W,1,03,00.5,054.2,M,-99.9,M,,*4a : Estimated North Bias at time = 1350.00 : -29.02 : Estimated East Bias at time = 1350.00 : -29.67 : Estimated Depth Bias at time = 1350.00 : -1.05 : Estimated northing and easting = 4074790.14 : 591135.36 : AshtechGps::processRecord() - $GPGGA,205807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205807.88,3648.8897,N,-12158.6708,W,1,03,00.5,053.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205808.88,3648.8895,N,-12158.6698,W,1,03,00.5,053.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205809.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205809.88,3648.8893,N,-12158.6689,W,1,03,00.5,053.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1354.997176 : TerrainNav update at dvl time = 1354.997176 : _navData-> (x,y) = (4074817.43, 591172.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205810.88,3648.8891,N,-12158.6680,W,1,03,00.5,053.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205811.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205811.88,3648.8889,N,-12158.6670,W,1,03,00.5,053.4,M,-99.9,M,,*4c : Estimated North Bias at time = 1355.00 : -29.90 : Estimated East Bias at time = 1355.00 : -29.37 : Estimated Depth Bias at time = 1355.00 : -1.05 : Estimated northing and easting = 4074787.53 : 591142.65 : AshtechGps::processRecord() - $GPGGA,205812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205812.88,3648.8887,N,-12158.6661,W,1,03,00.5,053.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205813.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205813.88,3648.8885,N,-12158.6652,W,1,03,00.5,053.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205814.88,3648.8883,N,-12158.6643,W,1,03,00.5,053.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1359.996834 : TerrainNav update at dvl time = 1359.996834 : _navData-> (x,y) = (4074815.64, 591178.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205815.88,3648.8881,N,-12158.6633,W,1,03,00.5,053.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205816.88,3648.8878,N,-12158.6624,W,1,03,00.5,053.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1360.00 : -30.38 : Estimated East Bias at time = 1360.00 : -30.27 : Estimated Depth Bias at time = 1360.00 : -1.05 : Estimated northing and easting = 4074785.26 : 591148.67 : AshtechGps::processRecord() - $GPGGA,205817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205817.88,3648.8876,N,-12158.6614,W,1,03,00.5,053.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205818.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205818.88,3648.8874,N,-12158.6605,W,1,03,00.5,053.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205819.88,3648.8872,N,-12158.6596,W,1,03,00.5,053.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205820.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1364.996491 : TerrainNav update at dvl time = 1364.996491 : _navData-> (x,y) = (4074813.64, 591185.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205820.88,3648.8869,N,-12158.6586,W,1,03,00.5,053.5,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205821.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205821.88,3648.8867,N,-12158.6577,W,1,03,00.5,053.6,M,-99.9,M,,*49 : Estimated North Bias at time = 1365.00 : -30.79 : Estimated East Bias at time = 1365.00 : -30.45 : Estimated Depth Bias at time = 1365.00 : -1.05 : Estimated northing and easting = 4074782.85 : 591155.49 : AshtechGps::processRecord() - $GPGGA,205822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205822.88,3648.8864,N,-12158.6568,W,1,03,00.5,053.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205823.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205823.88,3648.8862,N,-12158.6559,W,1,03,00.5,053.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205824.88,3648.8859,N,-12158.6549,W,1,03,00.5,054.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1369.996149 : TerrainNav update at dvl time = 1369.996149 : _navData-> (x,y) = (4074811.44, 591192.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205825.88,3648.8857,N,-12158.6540,W,1,03,00.5,053.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205826.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205826.88,3648.8854,N,-12158.6530,W,1,03,00.5,053.4,M,-99.9,M,,*4f : Estimated North Bias at time = 1370.00 : -31.16 : Estimated East Bias at time = 1370.00 : -30.90 : Estimated Depth Bias at time = 1370.00 : -1.06 : Estimated northing and easting = 4074780.28 : 591161.96 : AshtechGps::processRecord() - $GPGGA,205827.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205827.88,3648.8852,N,-12158.6521,W,1,03,00.5,052.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205828.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205828.88,3648.8849,N,-12158.6511,W,1,03,00.5,053.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205829.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205829.88,3648.8847,N,-12158.6501,W,1,03,00.5,053.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1374.995806 : TerrainNav update at dvl time = 1374.995806 : _navData-> (x,y) = (4074809.23, 591200.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205830.88,3648.8844,N,-12158.6492,W,1,03,00.5,052.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205831.88,3648.8842,N,-12158.6482,W,1,03,00.5,053.2,M,-99.9,M,,*40 : Estimated North Bias at time = 1375.00 : -31.60 : Estimated East Bias at time = 1375.00 : -29.69 : Estimated Depth Bias at time = 1375.00 : -1.06 : Estimated northing and easting = 4074777.63 : 591170.35 : AshtechGps::processRecord() - $GPGGA,205832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205832.88,3648.8839,N,-12158.6473,W,1,03,00.5,052.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205833.88,3648.8836,N,-12158.6463,W,1,03,00.5,053.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205834.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205834.88,3648.8834,N,-12158.6454,W,1,03,00.5,052.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1379.995464 : TerrainNav update at dvl time = 1379.995464 : _navData-> (x,y) = (4074806.84, 591207.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205835.88,3648.8831,N,-12158.6445,W,1,03,00.5,053.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205836.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1380.00 : -31.91 : Estimated East Bias at time = 1380.00 : -29.16 : Estimated Depth Bias at time = 1380.00 : -1.06 : Estimated northing and easting = 4074774.93 : 591177.85 : NMEA Update: $GPGGA,205836.88,3648.8828,N,-12158.6436,W,1,03,00.5,053.6,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205837.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205837.88,3648.8826,N,-12158.6427,W,1,03,00.5,052.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205838.88,3648.8824,N,-12158.6417,W,1,03,00.5,053.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205839.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205839.88,3648.8822,N,-12158.6407,W,1,03,00.5,052.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205840.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1384.995121 : TerrainNav update at dvl time = 1384.995121 : _navData-> (x,y) = (4074804.71, 591214.05) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205840.88,3648.8819,N,-12158.6398,W,1,03,00.5,053.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205841.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205841.88,3648.8818,N,-12158.6388,W,1,03,00.5,052.0,M,-99.9,M,,*46 : Estimated North Bias at time = 1385.00 : -32.51 : Estimated East Bias at time = 1385.00 : -29.81 : Estimated Depth Bias at time = 1385.00 : -1.06 : Estimated northing and easting = 4074772.20 : 591184.23 : AshtechGps::processRecord() - $GPGGA,205842.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205842.88,3648.8816,N,-12158.6378,W,1,03,00.5,052.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205843.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205843.69,3648.8814,N,-12158.6370,W,1,03,00.5,052.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205844.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205844.69,3648.8812,N,-12158.6360,W,1,03,00.5,051.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1389.994779 : TerrainNav update at dvl time = 1389.994779 : _navData-> (x,y) = (4074803.07, 591221.36) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205845.69,3648.8811,N,-12158.6351,W,1,03,00.5,051.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205846.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205846.69,3648.8809,N,-12158.6341,W,1,03,00.5,052.2,M,-99.9,M,,*49 : Estimated North Bias at time = 1389.99 : -32.71 : Estimated East Bias at time = 1389.99 : -30.45 : Estimated Depth Bias at time = 1389.99 : -1.06 : Estimated northing and easting = 4074770.36 : 591190.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205847.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205847.69,3648.8807,N,-12158.6331,W,1,03,00.5,052.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205848.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205848.69,3648.8806,N,-12158.6322,W,1,03,00.5,052.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205849.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205849.69,3648.8804,N,-12158.6312,W,1,03,00.5,052.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205850.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1394.994437 : TerrainNav update at dvl time = 1394.994437 : _navData-> (x,y) = (4074801.61, 591228.60) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205850.69,3648.8802,N,-12158.6302,W,1,03,00.5,052.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205851.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205851.69,3648.8801,N,-12158.6292,W,1,03,00.5,052.9,M,-99.9,M,,*43 : Estimated North Bias at time = 1394.99 : -32.89 : Estimated East Bias at time = 1394.99 : -31.43 : Estimated Depth Bias at time = 1394.99 : -1.06 : Estimated northing and easting = 4074768.72 : 591197.16 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205852.69,3648.8799,N,-12158.6282,W,1,03,00.5,052.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205853.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205853.69,3648.8797,N,-12158.6273,W,1,03,00.5,052.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205854.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205854.69,3648.8795,N,-12158.6263,W,1,03,00.5,053.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205855.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1399.994094 : TerrainNav update at dvl time = 1399.994094 : _navData-> (x,y) = (4074800.03, 591235.80) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205855.69,3648.8793,N,-12158.6254,W,1,03,00.5,052.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205856.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205856.69,3648.8792,N,-12158.6245,W,1,03,00.5,053.3,M,-99.9,M,,*40 : Estimated North Bias at time = 1399.99 : -33.33 : Estimated East Bias at time = 1399.99 : -31.69 : Estimated Depth Bias at time = 1399.99 : -1.06 : Estimated northing and easting = 4074766.71 : 591204.11 : AshtechGps::processRecord() - $GPGGA,205857.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205857.69,3648.8790,N,-12158.6235,W,1,03,00.5,052.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205858.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205858.69,3648.8788,N,-12158.6226,W,1,03,00.5,053.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205859.69,3648.8786,N,-12158.6216,W,1,03,00.5,052.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205900.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1404.993752 : TerrainNav update at dvl time = 1404.993752 : _navData-> (x,y) = (4074798.43, 591242.80) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205900.69,3648.8784,N,-12158.6207,W,1,03,00.5,052.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205901.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205901.69,3648.8783,N,-12158.6197,W,1,03,00.5,053.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1404.99 : -33.91 : Estimated East Bias at time = 1404.99 : -31.25 : Estimated Depth Bias at time = 1404.99 : -1.06 : Estimated northing and easting = 4074764.52 : 591211.55 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205902.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205902.69,3648.8781,N,-12158.6187,W,1,03,00.5,053.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205903.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205903.69,3648.8779,N,-12158.6177,W,1,03,00.5,053.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205904.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205904.69,3648.8777,N,-12158.6167,W,1,03,00.5,052.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205905.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1409.993409 : TerrainNav update at dvl time = 1409.993409 : _navData-> (x,y) = (4074796.84, 591250.16) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205905.69,3648.8775,N,-12158.6157,W,1,03,00.5,053.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205906.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205906.69,3648.8774,N,-12158.6148,W,1,03,00.5,053.8,M,-99.9,M,,*49 : Estimated North Bias at time = 1409.99 : -34.50 : Estimated East Bias at time = 1409.99 : -32.20 : Estimated Depth Bias at time = 1409.99 : -1.06 : Estimated northing and easting = 4074762.34 : 591217.96 : AshtechGps::processRecord() - $GPGGA,205907.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205907.69,3648.8772,N,-12158.6139,W,1,03,00.5,053.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205908.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205908.69,3648.8770,N,-12158.6130,W,1,03,00.5,053.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205909.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205909.69,3648.8768,N,-12158.6121,W,1,03,00.5,054.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205910.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1415.003066 : TerrainNav update at dvl time = 1415.003066 : _navData-> (x,y) = (4074795.22, 591256.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205910.69,3648.8766,N,-12158.6112,W,1,03,00.5,054.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205911.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205911.69,3648.8764,N,-12158.6103,W,1,03,00.5,054.3,M,-99.9,M,,*4d : Estimated North Bias at time = 1415.00 : -34.75 : Estimated East Bias at time = 1415.00 : -31.52 : Estimated Depth Bias at time = 1415.00 : -1.06 : Estimated northing and easting = 4074760.47 : 591225.46 : AshtechGps::processRecord() - $GPGGA,205912.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205912.69,3648.8762,N,-12158.6093,W,1,03,00.5,055.0,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205913.69,3648.8760,N,-12158.6083,W,1,03,00.5,054.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205914.69,3648.8758,N,-12158.6073,W,1,03,00.5,055.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205915.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1420.002723 : TerrainNav update at dvl time = 1420.002723 : _navData-> (x,y) = (4074793.46, 591264.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205915.69,3648.8756,N,-12158.6063,W,1,03,00.5,056.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205916.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205916.69,3648.8753,N,-12158.6053,W,1,03,00.5,052.5,M,-99.9,M,,*4a : Estimated North Bias at time = 1420.00 : -35.33 : Estimated East Bias at time = 1420.00 : -31.51 : Estimated Depth Bias at time = 1420.00 : -1.06 : Estimated northing and easting = 4074758.13 : 591232.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205917.69,3648.8751,N,-12158.6044,W,1,03,00.5,053.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205918.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205918.69,3648.8748,N,-12158.6034,W,1,03,00.5,052.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205919.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205919.69,3648.8745,N,-12158.6025,W,1,03,00.5,052.9,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205920.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1425.002381 : TerrainNav update at dvl time = 1425.002381 : _navData-> (x,y) = (4074790.93, 591271.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205920.69,3648.8742,N,-12158.6016,W,1,03,00.5,053.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205921.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1425.00 : -36.03 : Estimated East Bias at time = 1425.00 : -30.22 : Estimated Depth Bias at time = 1425.00 : -1.06 : Estimated northing and easting = 4074754.90 : 591241.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205921.69,3648.8739,N,-12158.6007,W,1,03,00.5,052.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205922.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205922.69,3648.8736,N,-12158.5998,W,1,03,00.5,053.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205923.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205923.69,3648.8733,N,-12158.5988,W,1,03,00.5,052.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205924.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205924.69,3648.8730,N,-12158.5979,W,1,03,00.5,052.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205925.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1430.002038 : TerrainNav update at dvl time = 1430.002038 : _navData-> (x,y) = (4074788.41, 591278.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205925.69,3648.8728,N,-12158.5970,W,1,03,00.5,051.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205926.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1430.00 : -36.26 : Estimated East Bias at time = 1430.00 : -30.59 : Estimated Depth Bias at time = 1430.00 : -1.06 : Estimated northing and easting = 4074752.15 : 591247.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205926.69,3648.8725,N,-12158.5960,W,1,03,00.5,051.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205927.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205927.69,3648.8723,N,-12158.5951,W,1,03,00.5,050.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205928.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205928.69,3648.8720,N,-12158.5941,W,1,03,00.5,050.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205929.69,3648.8717,N,-12158.5932,W,1,03,00.5,050.1,M,-99.9,M,,*4d : Waypoint has set the state to finished. : Waypoint (4074786.1, 591284.1), reached at t = 1482.40 (wplog) : Vehicle Position is error is (-0.2, -0.2) : LayeredControl::execute() -- (t = 1482.398449) Behavior waypoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1482.398449) Behavior ascend:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205930.00,,,,,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) = (4074786.09, 591285.09) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205930.69,3648.8715,N,-12158.5923,W,1,03,00.5,050.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205931.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1435.00 : -36.16 : Estimated East Bias at time = 1435.00 : -30.23 : Estimated Depth Bias at time = 1435.00 : -1.06 : Estimated northing and easting = 4074749.94 : 591254.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205931.69,3648.8713,N,-12158.5914,W,1,03,00.5,050.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205932.00,,,,,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,205932.69,3648.8712,N,-12158.5904,W,1,03,00.5,049.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205933.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205933.69,3648.8712,N,-12158.5895,W,1,03,00.5,051.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205934.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205934.69,3648.8712,N,-12158.5885,W,1,03,00.5,050.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205935.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1440.001353 : TerrainNav update at dvl time = 1440.001353 : _navData-> (x,y) = (4074785.47, 591292.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205935.69,3648.8712,N,-12158.5876,W,1,03,00.5,047.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205936.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205936.69,3648.8713,N,-12158.5867,W,1,03,00.5,047.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1440.00 : -36.42 : Estimated East Bias at time = 1440.00 : -32.14 : Estimated Depth Bias at time = 1440.00 : -1.06 : Estimated northing and easting = 4074749.04 : 591260.02 : AshtechGps::processRecord() - $GPGGA,205937.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205937.69,3648.8715,N,-12158.5859,W,1,03,00.5,047.0,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205938.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205938.69,3648.8717,N,-12158.5851,W,1,03,00.5,047.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205939.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205939.69,3648.8720,N,-12158.5843,W,1,03,00.5,047.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205940.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1445.001011 : TerrainNav update at dvl time = 1445.001011 : _navData-> (x,y) = (4074787.24, 591298.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205940.69,3648.8723,N,-12158.5836,W,1,03,00.5,048.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205941.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205941.69,3648.8726,N,-12158.5829,W,1,03,00.5,048.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1445.00 : -36.32 : Estimated East Bias at time = 1445.00 : -30.79 : Estimated Depth Bias at time = 1445.00 : -1.06 : Estimated northing and easting = 4074750.92 : 591267.37 : 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,205942.69,3648.8730,N,-12158.5823,W,1,03,00.5,048.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205943.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205943.69,3648.8735,N,-12158.5816,W,1,03,00.5,049.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205944.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205944.69,3648.8741,N,-12158.5810,W,1,03,00.5,049.7,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,205945.00,,,,,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 = 1450.000668 : TerrainNav update at dvl time = 1450.000668 : _navData-> (x,y) = (4074791.60, 591303.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205945.69,3648.8747,N,-12158.5804,W,1,03,00.5,050.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205946.00,,,,,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,205946.69,3648.8754,N,-12158.5799,W,1,03,00.5,050.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205947.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1450.00 : -36.40 : Estimated East Bias at time = 1450.00 : -29.86 : Estimated Depth Bias at time = 1450.00 : -1.05 : Estimated northing and easting = 4074755.20 : 591273.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,205947.69,3648.8760,N,-12158.5794,W,1,03,00.5,050.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205948.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205948.69,3648.8768,N,-12158.5792,W,1,03,00.5,051.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205949.00,,,,,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,205949.69,3648.8775,N,-12158.5790,W,1,03,00.5,052.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205950.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1455.000326 : TerrainNav update at dvl time = 1455.000326 : _navData-> (x,y) = (4074797.96, 591305.32) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205950.69,3648.8782,N,-12158.5790,W,1,03,00.5,052.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205951.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205951.69,3648.8789,N,-12158.5791,W,1,03,00.5,053.7,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1455.00 : -36.21 : Estimated East Bias at time = 1455.00 : -27.17 : Estimated Depth Bias at time = 1455.00 : -1.05 : Estimated northing and easting = 4074761.75 : 591278.15 : AshtechGps::processRecord() - $GPGGA,205952.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : 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,205952.69,3648.8796,N,-12158.5793,W,1,03,00.5,054.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205953.00,,,,,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,205953.69,3648.8803,N,-12158.5795,W,1,03,00.5,054.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205954.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205954.69,3648.8809,N,-12158.5798,W,1,03,00.5,055.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205955.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1459.999983 : TerrainNav update at dvl time = 1459.999983 : _navData-> (x,y) = (4074804.16, 591303.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,205955.69,3648.8815,N,-12158.5801,W,1,03,00.5,055.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205956.00,,,,,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,205956.69,3648.8820,N,-12158.5804,W,1,03,00.5,057.2,M,-99.9,M,,*4e : Estimated North Bias at time = 1460.00 : -36.55 : Estimated East Bias at time = 1460.00 : -25.47 : Estimated Depth Bias at time = 1460.00 : -1.05 : Estimated northing and easting = 4074767.61 : 591278.41 : AshtechGps::processRecord() - $GPGGA,205957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,205957.69,3648.8824,N,-12158.5809,W,1,03,00.5,058.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205958.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205958.69,3648.8828,N,-12158.5814,W,1,03,00.5,059.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205959.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205959.69,3648.8831,N,-12158.5820,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,210000.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1464.999641 : TerrainNav update at dvl time = 1464.999641 : _navData-> (x,y) = (4074807.89, 591300.21) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1465.00 : -36.57 : Estimated East Bias at time = 1465.00 : -25.48 : Estimated Depth Bias at time = 1465.00 : -1.05 : Estimated northing and easting = 4074771.31 : 591274.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210000.69,3648.8834,N,-12158.5826,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,210001.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210001.69,3648.8836,N,-12158.5833,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,210002.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210002.69,3648.8837,N,-12158.5841,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,210003.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210003.69,3648.8838,N,-12158.5842,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,210004.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210004.69,3648.8838,N,-12158.5849,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210005.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1469.999298 : TerrainNav update at dvl time = 1469.999298 : _navData-> (x,y) = (4074808.70, 591295.73) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1470.00 : -36.58 : Estimated East Bias at time = 1470.00 : -25.48 : Estimated Depth Bias at time = 1470.00 : -1.05 : Estimated northing and easting = 4074772.13 : 591270.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210005.69,3648.8837,N,-12158.5857,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,210006.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210006.69,3648.8835,N,-12158.5864,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,210007.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210007.69,3648.8833,N,-12158.5871,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,210008.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210008.69,3648.8831,N,-12158.5877,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210009.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210009.69,3648.8827,N,-12158.5883,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,210010.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1474.998956 : TerrainNav update at dvl time = 1474.998956 : _navData-> (x,y) = (4074806.22, 591290.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210010.69,3648.8823,N,-12158.5888,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,210011.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1475.00 : -36.39 : Estimated East Bias at time = 1475.00 : -24.70 : Estimated Depth Bias at time = 1475.00 : -1.05 : Estimated northing and easting = 4074769.84 : 591266.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210011.69,3648.8818,N,-12158.5892,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210012.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210012.69,3648.8813,N,-12158.5896,W,1,03,00.5,073.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210013.00,,,,,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,210013.69,3648.8808,N,-12158.5899,W,1,03,00.5,073.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210014.00,,,,,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,210014.69,3648.8802,N,-12158.5902,W,1,03,00.5,073.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210015.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1479.998613 : TerrainNav update at dvl time = 1479.998613 : _navData-> (x,y) = (4074801.44, 591288.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210015.69,3648.8796,N,-12158.5904,W,1,03,00.5,073.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210016.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1480.00 : -36.44 : Estimated East Bias at time = 1480.00 : -26.42 : Estimated Depth Bias at time = 1480.00 : -1.05 : Estimated northing and easting = 4074765.00 : 591262.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210016.69,3648.8790,N,-12158.5905,W,1,03,00.5,072.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210017.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210017.69,3648.8784,N,-12158.5905,W,1,03,00.5,073.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210018.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210018.69,3648.8778,N,-12158.5904,W,1,03,00.5,073.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210019.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210019.69,3648.8772,N,-12158.5902,W,1,03,00.5,072.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210020.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1484.998271 : TerrainNav update at dvl time = 1484.998271 : _navData-> (x,y) = (4074795.96, 591288.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210020.69,3648.8767,N,-12158.5900,W,1,03,00.5,073.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210021.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210021.69,3648.8762,N,-12158.5896,W,1,03,00.5,073.4,M,-99.9,M,,*41 : Estimated North Bias at time = 1485.00 : -37.08 : Estimated East Bias at time = 1485.00 : -27.68 : Estimated Depth Bias at time = 1485.00 : -1.05 : Estimated northing and easting = 4074758.88 : 591261.18 : AshtechGps::processRecord() - $GPGGA,210022.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210022.69,3648.8758,N,-12158.5892,W,1,03,00.5,072.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210023.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210023.69,3648.8754,N,-12158.5887,W,1,03,00.5,074.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210024.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210024.69,3648.8751,N,-12158.5881,W,1,03,00.5,072.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210025.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1489.997928 : TerrainNav update at dvl time = 1489.997928 : _navData-> (x,y) = (4074792.40, 591292.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210025.68,3648.8749,N,-12158.5875,W,1,03,00.5,073.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210026.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210026.68,3648.8747,N,-12158.5868,W,1,03,00.5,071.6,M,-99.9,M,,*41 : Estimated North Bias at time = 1490.00 : -38.32 : Estimated East Bias at time = 1490.00 : -29.47 : Estimated Depth Bias at time = 1490.00 : -1.05 : Estimated northing and easting = 4074754.08 : 591262.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210027.00,,,,,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,210027.68,3648.8746,N,-12158.5862,W,1,03,00.5,070.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210028.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210028.68,3648.8746,N,-12158.5855,W,1,03,00.5,070.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210029.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210029.68,3648.8746,N,-12158.5848,W,1,03,00.5,069.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210030.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1494.997586 : TerrainNav update at dvl time = 1494.997586 : _navData-> (x,y) = (4074792.01, 591297.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210030.68,3648.8748,N,-12158.5842,W,1,03,00.5,069.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210031.00,,,,,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,210031.68,3648.8750,N,-12158.5835,W,1,03,00.5,069.2,M,-99.9,M,,*44 : Estimated North Bias at time = 1495.00 : -38.29 : Estimated East Bias at time = 1495.00 : -28.69 : Estimated Depth Bias at time = 1495.00 : -1.05 : Estimated northing and easting = 4074753.72 : 591268.65 : AshtechGps::processRecord() - $GPGGA,210032.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210032.68,3648.8752,N,-12158.5829,W,1,03,00.5,069.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210033.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210033.68,3648.8755,N,-12158.5823,W,1,03,00.5,069.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210034.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210034.68,3648.8758,N,-12158.5816,W,1,03,00.5,069.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210035.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1499.997243 : TerrainNav update at dvl time = 1499.997243 : _navData-> (x,y) = (4074794.45, 591302.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210035.68,3648.8762,N,-12158.5809,W,1,03,00.5,069.7,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210036.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1500.00 : -38.31 : Estimated East Bias at time = 1500.00 : -28.47 : Estimated Depth Bias at time = 1500.00 : -1.05 : Estimated northing and easting = 4074756.14 : 591273.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210036.68,3648.8766,N,-12158.5802,W,1,03,00.5,072.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210037.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210037.68,3648.8771,N,-12158.5797,W,1,03,00.5,071.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210038.00,,,,,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,210038.68,3648.8777,N,-12158.5792,W,1,03,00.5,072.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210039.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210039.68,3648.8784,N,-12158.5790,W,1,03,00.5,071.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210040.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1504.996901 : TerrainNav update at dvl time = 1504.996901 : _navData-> (x,y) = (4074799.55, 591305.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210040.68,3648.8790,N,-12158.5789,W,1,03,00.5,073.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210041.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 1505.00 : -38.08 : Estimated East Bias at time = 1505.00 : -27.84 : Estimated Depth Bias at time = 1505.00 : -1.05 : Estimated northing and easting = 4074761.46 : 591277.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210041.68,3648.8797,N,-12158.5789,W,1,03,00.5,074.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210042.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210042.68,3648.8803,N,-12158.5789,W,1,03,00.5,074.3,M,-99.9,M,,*4c : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210043.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210043.68,3648.8809,N,-12158.5790,W,1,03,00.5,075.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210044.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210044.68,3648.8816,N,-12158.5790,W,1,03,00.5,075.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210045.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1509.996558 : TerrainNav update at dvl time = 1509.996558 : _navData-> (x,y) = (4074805.29, 591305.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210045.68,3648.8821,N,-12158.5791,W,1,03,00.5,078.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1510.00 : -38.01 : Estimated East Bias at time = 1510.00 : -27.61 : Estimated Depth Bias at time = 1510.00 : -1.05 : Estimated northing and easting = 4074767.28 : 591277.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210046.68,3648.8827,N,-12158.5794,W,1,03,00.5,079.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210047.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210047.68,3648.8832,N,-12158.5798,W,1,03,00.5,080.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210048.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210048.68,3648.8837,N,-12158.5802,W,1,03,00.5,081.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210049.00,,,,,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,210049.68,3648.8841,N,-12158.5809,W,1,03,00.5,081.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210050.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1514.996216 : TerrainNav update at dvl time = 1514.996216 : _navData-> (x,y) = (4074809.76, 591301.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210050.68,3648.8844,N,-12158.5814,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210051.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1515.00 : -37.77 : Estimated East Bias at time = 1515.00 : -27.07 : Estimated Depth Bias at time = 1515.00 : -1.04 : Estimated northing and easting = 4074771.99 : 591274.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210051.68,3648.8847,N,-12158.5819,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,210052.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210052.68,3648.8849,N,-12158.5826,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,210053.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210053.68,3648.8850,N,-12158.5833,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210054.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210054.68,3648.8851,N,-12158.5840,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,210055.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1519.995873 : TerrainNav update at dvl time = 1519.995873 : _navData-> (x,y) = (4074811.08, 591297.21) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1520.00 : -37.79 : Estimated East Bias at time = 1520.00 : -27.07 : Estimated Depth Bias at time = 1520.00 : -1.04 : Estimated northing and easting = 4074773.28 : 591270.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210055.68,3648.8850,N,-12158.5846,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,210056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210056.68,3648.8849,N,-12158.5854,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,210057.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210057.68,3648.8848,N,-12158.5859,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210058.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210058.68,3648.8845,N,-12158.5862,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,210059.00,,,,,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,210059.68,3648.8843,N,-12158.5869,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,210100.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1524.995531 : TerrainNav update at dvl time = 1524.995531 : _navData-> (x,y) = (4074809.41, 591293.16) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1525.00 : -37.79 : Estimated East Bias at time = 1525.00 : -27.04 : Estimated Depth Bias at time = 1525.00 : -1.04 : Estimated northing and easting = 4074771.62 : 591266.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210100.68,3648.8839,N,-12158.5873,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210101.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210101.68,3648.8835,N,-12158.5879,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,210102.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210102.68,3648.8831,N,-12158.5884,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,210103.00,,,,,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,210103.68,3648.8826,N,-12158.5887,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,210104.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210104.68,3648.8821,N,-12158.5889,W,1,03,00.5,095.3,M,-99.9,M,,*4f : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210105.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1529.995188 : TerrainNav update at dvl time = 1529.995188 : _navData-> (x,y) = (4074804.89, 591290.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210105.68,3648.8815,N,-12158.5891,W,1,03,00.5,094.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1530.00 : -37.36 : Estimated East Bias at time = 1530.00 : -26.44 : Estimated Depth Bias at time = 1530.00 : -1.04 : Estimated northing and easting = 4074767.53 : 591263.94 : 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,210106.68,3648.8809,N,-12158.5891,W,1,03,00.5,098.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210107.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 1579.791777) 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 = 1579.991763) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1579.991763) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 1579.991763) Behavior missionTimer:-1 has changed to state Active : NMEA Update: $GPGGA,210107.68,3648.8803,N,-12158.5893,W,1,03,00.5,095.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210108.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210108.68,3648.8797,N,-12158.5892,W,1,03,00.5,100.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210109.00,,,,,0,00,,,M,,M,,*43 : 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,210109.69,3648.8791,N,-12158.5890,W,1,03,00.5,095.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210110.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1534.994846 : TerrainNav update at dvl time = 1534.994846 : _navData-> (x,y) = (4074799.29, 591290.70) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210110.69,3648.8785,N,-12158.5886,W,1,03,00.5,097.7,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,210111.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1534.99 : -37.50 : Estimated East Bias at time = 1534.99 : -26.57 : Estimated Depth Bias at time = 1534.99 : -1.04 : Estimated northing and easting = 4074761.80 : 591264.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210111.69,3648.8780,N,-12158.5881,W,1,03,00.5,098.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210112.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210112.69,3648.8776,N,-12158.5875,W,1,03,00.5,090.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210113.69,3648.8771,N,-12158.5872,W,1,03,00.5,094.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210114.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210114.69,3648.8766,N,-12158.5871,W,1,03,00.5,090.9,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,210115.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1539.994503 : TerrainNav update at dvl time = 1539.994503 : _navData-> (x,y) = (4074795.01, 591293.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210115.69,3648.8762,N,-12158.5870,W,1,03,00.5,094.1,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210116.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210116.69,3648.8761,N,-12158.5869,W,1,03,00.5,095.2,M,-99.9,M,,*49 : Estimated North Bias at time = 1539.99 : -37.78 : Estimated East Bias at time = 1539.99 : -26.80 : Estimated Depth Bias at time = 1539.99 : -1.04 : Estimated northing and easting = 4074757.23 : 591266.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210117.00,,,,,0,04,9.0,,M,,M,,*6F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210117.69,3648.8759,N,-12158.5866,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,210118.00,3648.84510,N,12158.60231,W,1,06,1.7,-1.45,M,-32.96,M,,*73 : NMEA Update: $GPGGA,210118.69,3648.8451,N,-12158.6022,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,210119.00,3648.84498,N,12158.60191,W,1,07,1.3,-1.21,M,-32.96,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210119.69,3648.8450,N,-12158.6018,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,210120.00,3648.84462,N,12158.60164,W,1,08,1.3,-1.06,M,-32.96,M,,*72 : TerrainNav update at nav time = 1544.994161 : TerrainNav update at dvl time = 1544.994161 : _navData-> (x,y) = (4074735.94, 591272.45) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210120.69,3648.8445,N,-12158.6016,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,210121.00,3648.84413,N,12158.60122,W,1,08,1.3,-1.57,M,-32.96,M,,*73 : Estimated North Bias at time = 1544.99 : -16.36 : Estimated East Bias at time = 1544.99 : -20.64 : Estimated Depth Bias at time = 1544.99 : -1.04 : Estimated northing and easting = 4074719.58 : 591251.81 : NMEA Update: $GPGGA,210121.69,3648.8440,N,-12158.6012,W,1,03,00.5,1000.0,M,-99.9,M,,*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 : AshtechGps::processRecord() - $GPGGA,210122.00,3648.84386,N,12158.60067,W,1,08,1.3,-1.75,M,-32.96,M,,*7B : NMEA Update: $GPGGA,210122.69,3648.8438,N,-12158.6006,W,1,03,00.5,091.2,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210123.00,3648.84370,N,12158.60033,W,1,08,1.3,-1.95,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,210123.69,3648.8437,N,-12158.6002,W,1,03,00.5,098.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210124.00,3648.84364,N,12158.60028,W,1,08,1.3,-1.56,M,-32.96,M,,*7B : NMEA Update: $GPGGA,210124.69,3648.8436,N,-12158.6003,W,1,03,00.5,094.0,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,210125.00,3648.84341,N,12158.60019,W,1,08,1.3,-1.86,M,-32.96,M,,*72 : TerrainNav update at nav time = 1549.993818 : TerrainNav update at dvl time = 1549.993818 : _navData-> (x,y) = (4074733.80, 591274.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210125.69,3648.8434,N,-12158.6002,W,1,03,00.5,090.1,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,210126.00,3648.84312,N,12158.60010,W,1,08,1.3,-2.12,M,-32.96,M,,*70 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1549.99 : -3.37 : Estimated East Bias at time = 1549.99 : -16.64 : Estimated Depth Bias at time = 1549.99 : -1.05 : Estimated northing and easting = 4074730.43 : 591257.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210126.69,3648.8431,N,-12158.6001,W,1,03,00.5,090.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210127.00,3648.84303,N,12158.59965,W,1,08,1.3,-1.73,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,210127.69,3648.8430,N,-12158.5996,W,1,03,00.5,100.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210128.00,3648.84269,N,12158.59937,W,1,08,1.3,-1.65,M,-32.96,M,,*76 : NMEA Update: $GPGGA,210128.69,3648.8426,N,-12158.5993,W,1,03,00.5,091.9,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,210129.00,3648.84256,N,12158.59883,W,1,08,1.3,-0.78,M,-32.96,M,,*78 : NMEA Update: $GPGGA,210129.69,3648.8425,N,-12158.5988,W,1,03,00.5,094.1,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210130.00,3648.84231,N,12158.59838,W,1,08,1.3,-1.01,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 = 1554.993476 : TerrainNav update at dvl time = 1554.993476 : _navData-> (x,y) = (4074731.77, 591277.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210130.69,3648.8423,N,-12158.5983,W,1,03,00.5,094.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210131.00,3648.84231,N,12158.59786,W,1,08,1.3,-0.98,M,-32.96,M,,*74 : Estimated North Bias at time = 1554.99 : 12.80 : Estimated East Bias at time = 1554.99 : -12.51 : Estimated Depth Bias at time = 1554.99 : -1.06 : Estimated northing and easting = 4074744.57 : 591264.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210131.69,3648.8423,N,-12158.5978,W,1,03,00.5,094.3,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,210132.00,3648.84217,N,12158.59742,W,1,08,1.3,-1.02,M,-32.96,M,,*79 : NMEA Update: $GPGGA,210132.69,3648.8421,N,-12158.5973,W,1,03,00.5,090.0,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,210133.00,3648.84192,N,12158.59703,W,1,08,1.3,-1.81,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210133.69,3648.8419,N,-12158.5969,W,1,03,00.5,088.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210134.00,3648.84179,N,12158.59696,W,1,08,1.3,-2.67,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,210134.69,3648.8417,N,-12158.5970,W,1,03,00.5,090.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210135.00,3648.84172,N,12158.59724,W,1,08,1.3,-2.99,M,-32.96,M,,*7F : TerrainNav update at nav time = 1560.003133 : TerrainNav update at dvl time = 1560.003133 : _navData-> (x,y) = (4074730.77, 591278.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210135.69,3648.8417,N,-12158.5973,W,1,03,00.5,091.5,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,210136.00,3648.84161,N,12158.59738,W,1,08,1.3,-2.07,M,-32.96,M,,*74 : NMEA Update: $GPGGA,210136.69,3648.8416,N,-12158.5974,W,1,03,00.5,091.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210137.00,3648.84156,N,12158.59704,W,1,08,1.3,-1.59,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 : Estimated North Bias at time = 1560.00 : 20.70 : Estimated East Bias at time = 1560.00 : -7.66 : Estimated Depth Bias at time = 1560.00 : -1.10 : Estimated northing and easting = 4074751.47 : 591271.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210137.69,3648.8416,N,-12158.5970,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,210138.00,3648.84145,N,12158.59654,W,1,08,1.3,-0.84,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210138.69,3648.8415,N,-12158.5964,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210139.00,3648.84142,N,12158.59575,W,1,08,1.3,-0.62,M,-32.96,M,,*70 : NMEA Update: $GPGGA,210139.69,3648.8414,N,-12158.5956,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210140.00,3648.84115,N,12158.59524,W,1,08,1.3,-1.11,M,-32.96,M,,*7D : TerrainNav update at nav time = 1565.002790 : TerrainNav update at dvl time = 1565.002790 : _navData-> (x,y) = (4074729.72, 591282.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210140.69,3648.8411,N,-12158.5951,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210141.00,3648.84111,N,12158.59480,W,1,08,1.3,-1.55,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,210141.69,3648.8411,N,-12158.5947,W,1,03,00.5,091.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210142.00,3648.84103,N,12158.59452,W,1,08,1.3,-1.69,M,-32.96,M,,*77 : Estimated North Bias at time = 1565.00 : 22.70 : Estimated East Bias at time = 1565.00 : -7.02 : Estimated Depth Bias at time = 1565.00 : -1.10 : Estimated northing and easting = 4074752.41 : 591275.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210142.69,3648.8410,N,-12158.5945,W,1,03,00.5,093.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210143.00,3648.84097,N,12158.59426,W,1,08,1.3,-1.80,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210143.69,3648.8410,N,-12158.5942,W,1,03,00.5,088.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210144.00,3648.84084,N,12158.59425,W,1,08,1.3,-2.33,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,210144.69,3648.8408,N,-12158.5942,W,1,03,00.5,088.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210145.00,3648.84069,N,12158.59411,W,1,08,1.3,-1.99,M,-32.96,M,,*75 : TerrainNav update at nav time = 1570.002448 : TerrainNav update at dvl time = 1570.002448 : _navData-> (x,y) = (4074728.88, 591283.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210145.69,3648.8407,N,-12158.5940,W,1,03,00.5,093.0,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,210146.00,3648.84044,N,12158.59388,W,1,08,1.3,-2.27,M,-32.96,M,,*78 : NMEA Update: $GPGGA,210146.69,3648.8404,N,-12158.5938,W,1,03,00.5,086.6,M,-99.9,M,,*4f : Estimated North Bias at time = 1570.00 : 21.12 : Estimated East Bias at time = 1570.00 : -6.50 : Estimated Depth Bias at time = 1570.00 : -1.10 : Estimated northing and easting = 4074750.00 : 591277.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210147.00,3648.84025,N,12158.59376,W,1,08,1.3,-2.31,M,-32.96,M,,*78 : NMEA Update: $GPGGA,210147.69,3648.8402,N,-12158.5938,W,1,03,00.5,089.3,M,-99.9,M,,*42 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210148.00,3648.84023,N,12158.59357,W,1,08,1.3,-1.85,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,210148.69,3648.8402,N,-12158.5935,W,1,03,00.5,094.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210149.00,3648.84022,N,12158.59326,W,1,08,1.3,-1.49,M,-32.96,M,,*78 : NMEA Update: $GPGGA,210149.69,3648.8402,N,-12158.5932,W,1,03,00.5,091.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210150.00,3648.84026,N,12158.59301,W,1,09,1.1,-1.36,M,-32.96,M,,*7A : TerrainNav update at nav time = 1575.002105 : TerrainNav update at dvl time = 1575.002105 : _navData-> (x,y) = (4074728.19, 591285.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210150.69,3648.8403,N,-12158.5930,W,1,03,00.5,090.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210151.00,3648.84021,N,12158.59271,W,1,09,1.1,-1.26,M,-32.96,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1575.00 : 21.00 : Estimated East Bias at time = 1575.00 : -6.48 : Estimated Depth Bias at time = 1575.00 : -1.10 : Estimated northing and easting = 4074749.20 : 591278.84 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210151.69,3648.8402,N,-12158.5927,W,1,03,00.5,089.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210152.00,3648.84016,N,12158.59236,W,1,09,1.1,-1.41,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210152.69,3648.8402,N,-12158.5923,W,1,03,00.5,090.3,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,210153.00,3648.84007,N,12158.59230,W,1,09,1.1,-1.51,M,-32.96,M,,*78 : NMEA Update: $GPGGA,210153.69,3648.8401,N,-12158.5923,W,1,03,00.5,092.8,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,210154.00,3648.84014,N,12158.59193,W,1,09,1.1,-1.11,M,-32.96,M,,*73 : NMEA Update: $GPGGA,210154.69,3648.8401,N,-12158.5918,W,1,03,00.5,095.9,M,-99.9,M,,*46 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210155.00,3648.83994,N,12158.59158,W,1,09,1.1,-1.27,M,-32.96,M,,*76 : TerrainNav update at nav time = 1580.001763 : TerrainNav update at dvl time = 1580.001763 : _navData-> (x,y) = (4074727.56, 591287.51) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210155.69,3648.8399,N,-12158.5915,W,1,03,00.5,087.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210156.00,3648.83983,N,12158.59124,W,1,09,1.1,-1.58,M,-32.96,M,,*70 : NMEA Update: $GPGGA,210156.69,3648.8398,N,-12158.5912,W,1,03,00.5,093.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210157.00,3648.83967,N,12158.59115,W,1,09,1.1,-1.71,M,-32.96,M,,*72 : Estimated North Bias at time = 1580.00 : 21.48 : Estimated East Bias at time = 1580.00 : -5.87 : Estimated Depth Bias at time = 1580.00 : -1.10 : Estimated northing and easting = 4074749.03 : 591281.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210157.69,3648.8396,N,-12158.5911,W,1,03,00.5,095.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210158.00,3648.83963,N,12158.59105,W,1,09,1.1,-1.89,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,210158.69,3648.8396,N,-12158.5910,W,1,03,00.5,087.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210159.00,3648.83964,N,12158.59084,W,1,09,1.1,-1.90,M,-32.96,M,,*79 : NMEA Update: $GPGGA,210159.69,3648.8396,N,-12158.5908,W,1,03,00.5,088.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210200.00,3648.83950,N,12158.59073,W,1,09,1.1,-2.12,M,-32.96,M,,*70 : TerrainNav update at nav time = 1585.001420 : TerrainNav update at dvl time = 1585.001420 : _navData-> (x,y) = (4074726.74, 591288.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210200.69,3648.8395,N,-12158.5907,W,1,03,00.5,090.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210201.00,3648.83952,N,12158.59053,W,1,09,1.1,-1.95,M,-32.96,M,,*7D : NMEA Update: $GPGGA,210201.69,3648.8395,N,-12158.5905,W,1,03,00.5,091.1,M,-99.9,M,,*4f : Estimated North Bias at time = 1585.00 : 25.21 : Estimated East Bias at time = 1585.00 : -6.03 : Estimated Depth Bias at time = 1585.00 : -1.11 : Estimated northing and easting = 4074751.95 : 591282.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210202.00,3648.83938,N,12158.59036,W,1,09,1.1,-1.76,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,210202.69,3648.8394,N,-12158.5903,W,1,03,00.5,088.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210203.00,3648.83934,N,12158.58997,W,1,09,1.1,-1.98,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210203.69,3648.8393,N,-12158.5899,W,1,03,00.5,088.7,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,210204.00,3648.83918,N,12158.59006,W,1,09,1.1,-2.15,M,-32.96,M,,*7D : NMEA Update: $GPGGA,210204.69,3648.8392,N,-12158.5901,W,1,03,00.5,087.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,210205.00,3648.83920,N,12158.58996,W,1,09,1.1,-1.84,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 = 1590.001078 : TerrainNav update at dvl time = 1590.001078 : _navData-> (x,y) = (4074726.23, 591289.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210205.69,3648.8392,N,-12158.5900,W,1,03,00.5,093.1,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210206.00,3648.83907,N,12158.58971,W,1,09,1.1,-1.79,M,-32.96,M,,*70 : NMEA Update: $GPGGA,210206.69,3648.8391,N,-12158.5897,W,1,03,00.5,085.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1590.00 : 33.37 : Estimated East Bias at time = 1590.00 : -5.62 : Estimated Depth Bias at time = 1590.00 : -1.12 : Estimated northing and easting = 4074759.60 : 591284.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210207.00,3648.83896,N,12158.58958,W,1,09,1.1,-1.70,M,-32.96,M,,*7A : NMEA Update: $GPGGA,210207.69,3648.8390,N,-12158.5896,W,1,03,00.5,092.9,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,210208.00,3648.83910,N,12158.58927,W,1,09,1.1,-1.21,M,-32.96,M,,*76 : NMEA Update: $GPGGA,210208.69,3648.8391,N,-12158.5892,W,1,03,00.5,096.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210209.00,3648.83901,N,12158.58892,W,1,09,1.1,-1.33,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,210209.69,3648.8390,N,-12158.5888,W,1,03,00.5,086.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210210.00,3648.83906,N,12158.58864,W,1,09,1.1,-1.30,M,-32.96,M,,*7E : TerrainNav update at nav time = 1595.000735 : TerrainNav update at dvl time = 1595.000735 : _navData-> (x,y) = (4074726.03, 591291.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210210.69,3648.8391,N,-12158.5886,W,1,03,00.5,090.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210211.00,3648.83902,N,12158.58847,W,1,09,1.1,-1.45,M,-32.96,M,,*78 : Estimated North Bias at time = 1595.00 : 33.37 : Estimated East Bias at time = 1595.00 : -5.72 : Estimated Depth Bias at time = 1595.00 : -1.12 : Estimated northing and easting = 4074759.39 : 591286.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210211.69,3648.8390,N,-12158.5884,W,1,03,00.5,088.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210212.00,3648.83899,N,12158.58830,W,1,09,1.1,-1.67,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,210212.69,3648.8390,N,-12158.5883,W,1,03,00.5,087.2,M,-99.9,M,,*43 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210213.00,3648.83892,N,12158.58808,W,1,09,1.1,-1.42,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210213.69,3648.8389,N,-12158.5880,W,1,03,00.5,089.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210214.00,3648.83884,N,12158.58767,W,1,09,1.1,-1.55,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210214.69,3648.8388,N,-12158.5876,W,1,03,00.5,087.1,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,210215.00,3648.83879,N,12158.58749,W,1,09,1.1,-1.99,M,-32.96,M,,*71 : TerrainNav update at nav time = 1600.000392 : TerrainNav update at dvl time = 1600.000392 : _navData-> (x,y) = (4074725.50, 591293.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210215.69,3648.8388,N,-12158.5875,W,1,03,00.5,087.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210216.00,3648.83878,N,12158.58747,W,1,09,1.1,-1.98,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,210216.69,3648.8388,N,-12158.5875,W,1,03,00.5,088.2,M,-99.9,M,,*48 : Estimated North Bias at time = 1600.00 : 33.38 : Estimated East Bias at time = 1600.00 : -5.55 : Estimated Depth Bias at time = 1600.00 : -1.12 : Estimated northing and easting = 4074758.88 : 591288.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210217.00,3648.83876,N,12158.58728,W,1,09,1.1,-2.07,M,-32.96,M,,*7F : NMEA Update: $GPGGA,210217.69,3648.8387,N,-12158.5872,W,1,03,00.5,086.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210218.00,3648.83869,N,12158.58719,W,1,09,1.1,-2.35,M,-32.96,M,,*7D : NMEA Update: $GPGGA,210218.69,3648.8387,N,-12158.5871,W,1,03,00.5,087.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210219.00,3648.83869,N,12158.58719,W,1,09,1.1,-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,210219.69,3648.8387,N,-12158.5872,W,1,03,00.5,088.4,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210220.00,3648.83857,N,12158.58722,W,1,09,1.1,-2.18,M,-32.96,M,,*7C : TerrainNav update at nav time = 1605.000050 : TerrainNav update at dvl time = 1605.000050 : _navData-> (x,y) = (4074725.08, 591293.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210220.69,3648.8386,N,-12158.5872,W,1,03,00.5,087.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210221.00,3648.83856,N,12158.58716,W,1,09,1.1,-1.74,M,-32.96,M,,*72 : Estimated North Bias at time = 1605.00 : 33.40 : Estimated East Bias at time = 1605.00 : -5.49 : Estimated Depth Bias at time = 1605.00 : -1.12 : Estimated northing and easting = 4074758.49 : 591288.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210221.69,3648.8386,N,-12158.5871,W,1,03,00.5,087.7,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,210222.00,3648.83861,N,12158.58687,W,1,09,1.1,-1.36,M,-32.96,M,,*7A : NMEA Update: $GPGGA,210222.69,3648.8386,N,-12158.5868,W,1,03,00.5,088.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210223.00,3648.83852,N,12158.58650,W,1,09,1.1,-1.09,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 : NMEA Update: $GPGGA,210223.69,3648.8385,N,-12158.5864,W,1,03,00.5,087.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210224.00,3648.83845,N,12158.58616,W,1,09,1.1,-1.34,M,-32.96,M,,*70 : NMEA Update: $GPGGA,210224.69,3648.8384,N,-12158.5861,W,1,03,00.5,086.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210225.00,3648.83848,N,12158.58588,W,1,09,1.1,-0.85,M,-32.96,M,,*73 : TerrainNav update at nav time = 1609.999707 : TerrainNav update at dvl time = 1609.999707 : _navData-> (x,y) = (4074724.96, 591295.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210225.69,3648.8385,N,-12158.5858,W,1,03,00.5,089.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210226.00,3648.83855,N,12158.58542,W,1,09,1.1,-0.86,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,210226.69,3648.8385,N,-12158.5853,W,1,03,00.5,088.7,M,-99.9,M,,*47 : Estimated North Bias at time = 1610.00 : 33.40 : Estimated East Bias at time = 1610.00 : -5.35 : Estimated Depth Bias at time = 1610.00 : -1.12 : Estimated northing and easting = 4074758.36 : 591290.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210227.00,3648.83855,N,12158.58510,W,1,09,1.1,-1.49,M,-32.96,M,,*7D : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210227.69,3648.8386,N,-12158.5851,W,1,03,00.5,089.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210228.00,3648.83860,N,12158.58504,W,1,09,1.1,-1.82,M,-32.96,M,,*76 : NMEA Update: $GPGGA,210228.69,3648.8386,N,-12158.5850,W,1,03,00.5,087.3,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,210229.00,3648.83862,N,12158.58506,W,1,09,1.1,-2.10,M,-32.96,M,,*7F : NMEA Update: $GPGGA,210229.69,3648.8386,N,-12158.5851,W,1,03,00.5,087.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210230.00,3648.83871,N,12158.58504,W,1,09,1.1,-2.14,M,-32.96,M,,*73 : TerrainNav update at nav time = 1614.999365 : TerrainNav update at dvl time = 1614.999365 : _navData-> (x,y) = (4074725.41, 591297.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210230.69,3648.8387,N,-12158.5850,W,1,03,00.5,088.6,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210231.00,3648.83861,N,12158.58506,W,1,09,1.1,-1.96,M,-32.96,M,,*78 : Estimated North Bias at time = 1615.00 : 33.41 : Estimated East Bias at time = 1615.00 : -5.23 : Estimated Depth Bias at time = 1615.00 : -1.12 : Estimated northing and easting = 4074758.82 : 591291.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210231.69,3648.8386,N,-12158.5850,W,1,03,00.5,088.2,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,210232.00,3648.83860,N,12158.58499,W,1,09,1.1,-1.67,M,-32.96,M,,*73 : NMEA Update: $GPGGA,210232.69,3648.8386,N,-12158.5850,W,1,03,00.5,090.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210233.00,3648.83851,N,12158.58481,W,1,09,1.1,-1.38,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,210233.69,3648.8385,N,-12158.5848,W,1,03,00.5,091.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210234.00,3648.83848,N,12158.58443,W,1,09,1.1,-1.27,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210234.69,3648.8385,N,-12158.5844,W,1,03,00.5,089.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210235.00,3648.83853,N,12158.58404,W,1,09,1.1,-1.10,M,-32.96,M,,*70 : TerrainNav update at nav time = 1619.999022 : TerrainNav update at dvl time = 1619.999022 : _navData-> (x,y) = (4074725.10, 591298.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210235.69,3648.8385,N,-12158.5840,W,1,03,00.5,087.0,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,210236.00,3648.83843,N,12158.58383,W,1,09,1.1,-1.47,M,-32.96,M,,*78 : Estimated North Bias at time = 1620.00 : 33.41 : Estimated East Bias at time = 1620.00 : -5.22 : Estimated Depth Bias at time = 1620.00 : -1.12 : Estimated northing and easting = 4074758.51 : 591293.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210236.69,3648.8384,N,-12158.5838,W,1,03,00.5,088.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210237.00,3648.83854,N,12158.58361,W,1,09,1.1,-1.73,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,210237.69,3648.8385,N,-12158.5836,W,1,03,00.5,088.9,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210238.00,3648.83843,N,12158.58341,W,1,09,1.1,-1.91,M,-32.96,M,,*73 : NMEA Update: $GPGGA,210238.69,3648.8384,N,-12158.5834,W,1,03,00.5,085.5,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,210239.00,3648.83839,N,12158.58321,W,1,09,1.1,-2.13,M,-32.96,M,,*70 : NMEA Update: $GPGGA,210239.69,3648.8384,N,-12158.5832,W,1,03,00.5,087.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210240.00,3648.83836,N,12158.58304,W,1,09,1.1,-1.86,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 = 1624.998680 : TerrainNav update at dvl time = 1624.998680 : _navData-> (x,y) = (4074724.78, 591300.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210240.69,3648.8384,N,-12158.5830,W,1,03,00.5,087.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210241.00,3648.83844,N,12158.58268,W,1,09,1.1,-1.66,M,-32.96,M,,*78 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1625.00 : 33.41 : Estimated East Bias at time = 1625.00 : -5.17 : Estimated Depth Bias at time = 1625.00 : -1.12 : Estimated northing and easting = 4074758.19 : 591294.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210241.69,3648.8385,N,-12158.5826,W,1,03,00.5,087.7,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,210242.00,3648.83848,N,12158.58233,W,1,09,1.1,-2.06,M,-32.96,M,,*7C : NMEA Update: $GPGGA,210242.69,3648.8385,N,-12158.5822,W,1,03,00.5,083.5,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,210243.00,3648.83845,N,12158.58227,W,1,09,1.1,-2.66,M,-32.96,M,,*73 : NMEA Update: $GPGGA,210243.69,3648.8384,N,-12158.5823,W,1,03,00.5,088.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210244.00,3648.83860,N,12158.58238,W,1,09,1.1,-2.67,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,210244.69,3648.8386,N,-12158.5824,W,1,03,00.5,087.1,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210245.00,3648.83857,N,12158.58245,W,1,09,1.1,-2.37,M,-32.96,M,,*76 : TerrainNav update at nav time = 1629.998338 : TerrainNav update at dvl time = 1629.998338 : _navData-> (x,y) = (4074725.22, 591301.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210245.69,3648.8386,N,-12158.5824,W,1,03,00.5,087.3,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,210246.00,3648.83873,N,12158.58235,W,1,09,1.1,-1.56,M,-32.96,M,,*70 : Estimated North Bias at time = 1630.00 : 33.42 : Estimated East Bias at time = 1630.00 : -4.90 : Estimated Depth Bias at time = 1630.00 : -1.12 : Estimated northing and easting = 4074758.63 : 591296.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210246.69,3648.8387,N,-12158.5823,W,1,03,00.5,089.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210247.00,3648.83865,N,12158.58214,W,1,09,1.1,-1.29,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,210247.69,3648.8386,N,-12158.5821,W,1,03,00.5,084.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210248.00,3648.83862,N,12158.58176,W,1,09,1.1,-1.08,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210248.69,3648.8386,N,-12158.5817,W,1,03,00.5,089.5,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,210249.00,3648.83845,N,12158.58144,W,1,09,1.1,-1.01,M,-32.96,M,,*7D : NMEA Update: $GPGGA,210249.69,3648.8384,N,-12158.5814,W,1,03,00.5,091.7,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,210250.00,3648.83837,N,12158.58102,W,1,09,1.1,-1.04,M,-32.96,M,,*77 : TerrainNav update at nav time = 1634.997995 : TerrainNav update at dvl time = 1634.997995 : _navData-> (x,y) = (4074724.83, 591303.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210250.69,3648.8384,N,-12158.5809,W,1,03,00.5,089.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210251.00,3648.83833,N,12158.58069,W,1,09,1.1,-1.40,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 = 1635.00 : 33.44 : Estimated East Bias at time = 1635.00 : -4.66 : Estimated Depth Bias at time = 1635.00 : -1.12 : Estimated northing and easting = 4074758.27 : 591298.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210251.68,3648.8383,N,-12158.5806,W,1,03,00.5,088.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210252.00,3648.83839,N,12158.58047,W,1,09,1.1,-1.47,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210252.68,3648.8384,N,-12158.5804,W,1,03,00.5,086.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210253.00,3648.83848,N,12158.58024,W,1,09,1.1,-1.91,M,-32.96,M,,*75 : NMEA Update: $GPGGA,210253.68,3648.8385,N,-12158.5802,W,1,03,00.5,094.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210254.00,3648.83843,N,12158.58034,W,1,09,1.1,-2.63,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,210254.68,3648.8384,N,-12158.5804,W,1,03,00.5,088.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210255.00,3648.83866,N,12158.58046,W,1,09,1.1,-2.19,M,-32.96,M,,*78 : TerrainNav update at nav time = 1639.997653 : TerrainNav update at dvl time = 1639.997653 : _navData-> (x,y) = (4074725.39, 591303.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210255.68,3648.8387,N,-12158.5805,W,1,03,00.5,087.8,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,210256.00,3648.83852,N,12158.58042,W,1,09,1.1,-1.77,M,-32.96,M,,*73 : Estimated North Bias at time = 1640.00 : 33.50 : Estimated East Bias at time = 1640.00 : -4.20 : Estimated Depth Bias at time = 1640.00 : -1.12 : Estimated northing and easting = 4074758.90 : 591299.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210256.68,3648.8385,N,-12158.5804,W,1,03,00.5,086.8,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,210257.00,3648.83852,N,12158.58000,W,1,09,1.1,-1.71,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210257.68,3648.8385,N,-12158.5799,W,1,03,00.5,087.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210258.00,3648.83844,N,12158.57969,W,1,09,1.1,-1.59,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,210258.68,3648.8384,N,-12158.5796,W,1,03,00.5,087.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210259.00,3648.83843,N,12158.57922,W,1,09,1.1,-1.70,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210259.68,3648.8384,N,-12158.5791,W,1,03,00.5,089.7,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,210300.00,3648.83843,N,12158.57891,W,1,09,1.1,-2.18,M,-32.96,M,,*72 : TerrainNav update at nav time = 1644.997310 : TerrainNav update at dvl time = 1644.997310 : _navData-> (x,y) = (4074724.98, 591306.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210300.68,3648.8384,N,-12158.5788,W,1,03,00.5,087.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210301.00,3648.83853,N,12158.57883,W,1,09,1.1,-2.41,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 = 1645.00 : 33.50 : Estimated East Bias at time = 1645.00 : -3.99 : Estimated Depth Bias at time = 1645.00 : -1.12 : Estimated northing and easting = 4074758.48 : 591302.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210301.68,3648.8386,N,-12158.5788,W,1,03,00.5,089.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210302.00,3648.83854,N,12158.57881,W,1,09,1.1,-2.29,M,-32.96,M,,*75 : NMEA Update: $GPGGA,210302.68,3648.8385,N,-12158.5788,W,1,03,00.5,087.1,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,210303.00,3648.83849,N,12158.57873,W,1,09,1.1,-2.16,M,-32.96,M,,*79 : NMEA Update: $GPGGA,210303.68,3648.8385,N,-12158.5787,W,1,03,00.5,086.9,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,210304.00,3648.83847,N,12158.57859,W,1,09,1.1,-1.86,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210304.68,3648.8385,N,-12158.5786,W,1,03,00.5,086.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210305.00,3648.83854,N,12158.57832,W,1,09,1.1,-1.51,M,-32.96,M,,*76 : TerrainNav update at nav time = 1649.996968 : TerrainNav update at dvl time = 1649.996968 : _navData-> (x,y) = (4074725.21, 591307.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210305.68,3648.8385,N,-12158.5783,W,1,03,00.5,088.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210306.00,3648.83861,N,12158.57790,W,1,09,1.1,-1.46,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1650.00 : 33.50 : Estimated East Bias at time = 1650.00 : -3.75 : Estimated Depth Bias at time = 1650.00 : -1.11 : Estimated northing and easting = 4074758.71 : 591303.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210306.68,3648.8386,N,-12158.5778,W,1,03,00.5,086.6,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,210307.00,3648.83876,N,12158.57742,W,1,09,1.1,-1.69,M,-32.96,M,,*77 : NMEA Update: $GPGGA,210307.68,3648.8388,N,-12158.5773,W,1,03,00.5,088.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210308.00,3648.83864,N,12158.57732,W,1,09,1.1,-2.23,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,210308.68,3648.8386,N,-12158.5773,W,1,03,00.5,089.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210309.00,3648.83857,N,12158.57728,W,1,09,1.1,-2.62,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210309.68,3648.8385,N,-12158.5773,W,1,03,00.5,087.3,M,-99.9,M,,*4c : 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,210310.00,3648.83845,N,12158.57739,W,1,09,1.1,-2.48,M,-32.96,M,,*7D : TerrainNav update at nav time = 1654.996625 : TerrainNav update at dvl time = 1654.996625 : _navData-> (x,y) = (4074725.00, 591308.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210310.68,3648.8384,N,-12158.5774,W,1,03,00.5,086.2,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,210311.00,3648.83840,N,12158.57731,W,1,09,1.1,-2.10,M,-32.96,M,,*7C : Estimated North Bias at time = 1655.00 : 33.51 : Estimated East Bias at time = 1655.00 : -3.69 : Estimated Depth Bias at time = 1655.00 : -1.11 : Estimated northing and easting = 4074758.51 : 591304.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210311.68,3648.8384,N,-12158.5773,W,1,03,00.5,088.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210312.00,3648.83829,N,12158.57721,W,1,09,1.1,-2.13,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,210312.68,3648.8383,N,-12158.5772,W,1,03,00.5,086.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210313.00,3648.83838,N,12158.57697,W,1,09,1.1,-1.99,M,-32.96,M,,*7E : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210313.68,3648.8384,N,-12158.5769,W,1,03,00.5,090.8,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,210314.00,3648.83843,N,12158.57681,W,1,09,1.1,-1.63,M,-32.96,M,,*77 : NMEA Update: $GPGGA,210314.68,3648.8385,N,-12158.5768,W,1,03,00.5,093.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210315.00,3648.83861,N,12158.57641,W,1,09,1.1,-1.67,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 = 1659.996283 : TerrainNav update at dvl time = 1659.996283 : _navData-> (x,y) = (4074725.41, 591310.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210315.68,3648.8386,N,-12158.5763,W,1,03,00.5,094.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210316.00,3648.83865,N,12158.57621,W,1,09,1.1,-1.83,M,-32.96,M,,*75 : NMEA Update: $GPGGA,210316.68,3648.8387,N,-12158.5762,W,1,03,00.5,088.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1660.00 : 33.54 : Estimated East Bias at time = 1660.00 : -3.47 : Estimated Depth Bias at time = 1660.00 : -1.11 : Estimated northing and easting = 4074758.95 : 591306.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210317.00,3648.83868,N,12158.57620,W,1,09,1.1,-1.98,M,-32.96,M,,*72 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210317.68,3648.8387,N,-12158.5762,W,1,03,00.5,087.2,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,210318.00,3648.83856,N,12158.57621,W,1,09,1.1,-1.58,M,-32.96,M,,*7D : NMEA Update: $GPGGA,210318.68,3648.8385,N,-12158.5762,W,1,03,00.5,088.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210319.00,3648.83848,N,12158.57584,W,1,09,1.1,-1.33,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,210319.68,3648.8385,N,-12158.5758,W,1,03,00.5,087.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210320.00,3648.83842,N,12158.57557,W,1,09,1.1,-1.33,M,-32.96,M,,*7C : TerrainNav update at nav time = 1664.995940 : TerrainNav update at dvl time = 1664.995940 : _navData-> (x,y) = (4074725.04, 591311.32) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210320.68,3648.8384,N,-12158.5755,W,1,03,00.5,087.4,M,-99.9,M,,*45 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210321.00,3648.83847,N,12158.57525,W,1,09,1.1,-1.37,M,-32.96,M,,*79 : NMEA Update: $GPGGA,210321.68,3648.8385,N,-12158.5752,W,1,03,00.5,088.2,M,-99.9,M,,*4b : Estimated North Bias at time = 1665.00 : 33.54 : Estimated East Bias at time = 1665.00 : -3.46 : Estimated Depth Bias at time = 1665.00 : -1.11 : Estimated northing and easting = 4074758.57 : 591307.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210322.00,3648.83838,N,12158.57513,W,1,09,1.1,-1.81,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,210322.68,3648.8384,N,-12158.5751,W,1,03,00.5,089.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210323.00,3648.83846,N,12158.57516,W,1,09,1.1,-1.39,M,-32.96,M,,*74 : NMEA Update: $GPGGA,210323.68,3648.8385,N,-12158.5751,W,1,03,00.5,093.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210324.00,3648.83841,N,12158.57511,W,1,09,1.1,-1.72,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210324.68,3648.8384,N,-12158.5751,W,1,03,00.5,091.0,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,210325.00,3648.83835,N,12158.57500,W,1,09,1.1,-2.01,M,-32.96,M,,*79 : TerrainNav update at nav time = 1669.995598 : TerrainNav update at dvl time = 1669.995598 : _navData-> (x,y) = (4074724.89, 591312.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210325.68,3648.8383,N,-12158.5750,W,1,03,00.5,087.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210326.00,3648.83836,N,12158.57486,W,1,09,1.1,-1.79,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,210326.68,3648.8384,N,-12158.5749,W,1,03,00.5,094.7,M,-99.9,M,,*4f : Estimated North Bias at time = 1670.00 : 33.57 : Estimated East Bias at time = 1670.00 : -3.23 : Estimated Depth Bias at time = 1670.00 : -1.11 : Estimated northing and easting = 4074758.46 : 591308.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210327.00,3648.83840,N,12158.57454,W,1,09,1.1,-1.52,M,-32.96,M,,*7C : NMEA Update: $GPGGA,210327.68,3648.8384,N,-12158.5745,W,1,03,00.5,091.8,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,210328.00,3648.83837,N,12158.57436,W,1,09,1.1,-1.59,M,-32.96,M,,*7C : NMEA Update: $GPGGA,210328.68,3648.8384,N,-12158.5743,W,1,03,00.5,092.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210329.00,3648.83829,N,12158.57433,W,1,09,1.1,-1.84,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,210329.68,3648.8383,N,-12158.5743,W,1,03,00.5,088.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210330.00,3648.83826,N,12158.57423,W,1,09,1.1,-1.95,M,-32.96,M,,*71 : TerrainNav update at nav time = 1674.995255 : TerrainNav update at dvl time = 1674.995255 : _navData-> (x,y) = (4074724.74, 591313.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210330.68,3648.8382,N,-12158.5742,W,1,03,00.5,093.2,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,210331.00,3648.83828,N,12158.57416,W,1,09,1.1,-2.11,M,-32.96,M,,*77 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1675.00 : 33.56 : Estimated East Bias at time = 1675.00 : -3.25 : Estimated Depth Bias at time = 1675.00 : -1.11 : NMEA Update: $GPGGA,210331.68,3648.8383,N,-12158.5741,W,1,03,00.5,091.1,M,-99.9,M,,*45 : Estimated northing and easting = 4074758.30 : 591309.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210332.00,3648.83833,N,12158.57413,W,1,09,1.1,-1.92,M,-32.96,M,,*73 : NMEA Update: $GPGGA,210332.68,3648.8384,N,-12158.5741,W,1,03,00.5,092.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210333.00,3648.83833,N,12158.57392,W,1,09,1.1,-1.57,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,210333.68,3648.8383,N,-12158.5739,W,1,03,00.5,091.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210334.00,3648.83831,N,12158.57351,W,1,09,1.1,-1.28,M,-32.96,M,,*77 : NMEA Update: $GPGGA,210334.68,3648.8383,N,-12158.5735,W,1,03,00.5,087.7,M,-99.9,M,,*42 : 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,210335.00,3648.83829,N,12158.57317,W,1,09,1.1,-1.34,M,-32.96,M,,*70 : TerrainNav update at nav time = 1679.994913 : TerrainNav update at dvl time = 1679.994913 : _navData-> (x,y) = (4074724.87, 591314.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210335.69,3648.8383,N,-12158.5731,W,1,03,00.5,086.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210336.00,3648.83823,N,12158.57287,W,1,09,1.1,-1.62,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,210336.69,3648.8382,N,-12158.5728,W,1,03,00.5,086.8,M,-99.9,M,,*42 : Estimated North Bias at time = 1679.99 : 33.56 : Estimated East Bias at time = 1679.99 : -3.12 : Estimated Depth Bias at time = 1679.99 : -1.11 : Estimated northing and easting = 4074758.44 : 591311.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210337.00,3648.83815,N,12158.57262,W,1,09,1.1,-1.85,M,-32.96,M,,*74 : NMEA Update: $GPGGA,210337.69,3648.8381,N,-12158.5726,W,1,03,00.5,093.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210338.00,3648.83828,N,12158.57239,W,1,09,1.1,-1.82,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210338.69,3648.8383,N,-12158.5723,W,1,03,00.5,091.2,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,210339.00,3648.83838,N,12158.57234,W,1,09,1.1,-1.95,M,-32.96,M,,*77 : NMEA Update: $GPGGA,210339.69,3648.8384,N,-12158.5723,W,1,03,00.5,087.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210340.00,3648.83855,N,12158.57224,W,1,09,1.1,-1.95,M,-32.96,M,,*73 : TerrainNav update at nav time = 1684.994570 : TerrainNav update at dvl time = 1684.994570 : _navData-> (x,y) = (4074725.35, 591316.20) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210340.69,3648.8386,N,-12158.5722,W,1,03,00.5,087.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210341.00,3648.83855,N,12158.57221,W,1,09,1.1,-2.35,M,-32.96,M,,*7E : Estimated North Bias at time = 1684.99 : 33.56 : Estimated East Bias at time = 1684.99 : -3.15 : Estimated Depth Bias at time = 1684.99 : -1.11 : Estimated northing and easting = 4074758.91 : 591313.05 : NMEA Update: $GPGGA,210341.69,3648.8386,N,-12158.5722,W,1,03,00.5,083.3,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210342.00,3648.83838,N,12158.57226,W,1,09,1.1,-2.47,M,-32.96,M,,*74 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210342.69,3648.8384,N,-12158.5723,W,1,03,00.5,087.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210343.00,3648.83820,N,12158.57223,W,1,09,1.1,-2.18,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,210343.69,3648.8382,N,-12158.5723,W,1,03,00.5,086.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210344.00,3648.83814,N,12158.57218,W,1,09,1.1,-2.22,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210344.69,3648.8382,N,-12158.5722,W,1,03,00.5,090.7,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,210345.00,3648.83811,N,12158.57221,W,1,09,1.1,-1.81,M,-32.96,M,,*76 : TerrainNav update at nav time = 1689.994228 : TerrainNav update at dvl time = 1689.994228 : _navData-> (x,y) = (4074724.54, 591316.22) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210345.69,3648.8381,N,-12158.5722,W,1,03,00.5,089.1,M,-99.9,M,,*49 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210346.00,3648.83817,N,12158.57205,W,1,09,1.1,-1.62,M,-32.96,M,,*78 : Estimated North Bias at time = 1689.99 : 33.56 : Estimated East Bias at time = 1689.99 : -2.98 : Estimated Depth Bias at time = 1689.99 : -1.11 : Estimated northing and easting = 4074758.10 : 591313.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210346.69,3648.8382,N,-12158.5720,W,1,03,00.5,091.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210347.00,3648.83816,N,12158.57183,W,1,09,1.1,-1.01,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,210347.69,3648.8382,N,-12158.5718,W,1,03,00.5,091.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210348.00,3648.83817,N,12158.57130,W,1,09,1.1,-0.67,M,-32.96,M,,*77 : NMEA Update: $GPGGA,210348.69,3648.8382,N,-12158.5712,W,1,03,00.5,088.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210349.00,3648.83814,N,12158.57077,W,1,09,1.1,-0.63,M,-32.96,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210349.69,3648.8381,N,-12158.5707,W,1,03,00.5,094.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210350.00,3648.83822,N,12158.57035,W,1,09,1.1,-0.97,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 = 1694.993885 : TerrainNav update at dvl time = 1694.993885 : _navData-> (x,y) = (4074724.78, 591319.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210350.69,3648.8382,N,-12158.5703,W,1,03,00.5,089.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210351.00,3648.83836,N,12158.56997,W,1,09,1.1,-1.65,M,-32.96,M,,*7B : NMEA Update: $GPGGA,210351.69,3648.8384,N,-12158.5699,W,1,03,00.5,089.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1694.99 : 33.57 : Estimated East Bias at time = 1694.99 : -3.03 : Estimated Depth Bias at time = 1694.99 : -1.11 : Estimated northing and easting = 4074758.35 : 591316.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210352.00,3648.83827,N,12158.57019,W,1,09,1.1,-2.60,M,-32.96,M,,*70 : NMEA Update: $GPGGA,210352.69,3648.8383,N,-12158.5703,W,1,03,00.5,087.2,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,210353.00,3648.83834,N,12158.57056,W,1,09,1.1,-2.44,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210353.69,3648.8383,N,-12158.5706,W,1,03,00.5,086.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210354.00,3648.83825,N,12158.57063,W,1,09,1.1,-1.97,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,210354.69,3648.8382,N,-12158.5706,W,1,03,00.5,085.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210355.00,3648.83823,N,12158.57038,W,1,09,1.1,-1.84,M,-32.96,M,,*79 : TerrainNav update at nav time = 1699.993542 : TerrainNav update at dvl time = 1699.993542 : _navData-> (x,y) = (4074724.76, 591318.99) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210355.69,3648.8382,N,-12158.5703,W,1,03,00.5,084.9,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,210356.00,3648.83828,N,12158.57017,W,1,09,1.1,-1.50,M,-32.96,M,,*75 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210356.69,3648.8383,N,-12158.5701,W,1,03,00.5,085.9,M,-99.9,M,,*4c : Estimated North Bias at time = 1699.99 : 33.56 : Estimated East Bias at time = 1699.99 : -2.95 : Estimated Depth Bias at time = 1699.99 : -1.11 : Estimated northing and easting = 4074758.32 : 591316.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210357.00,3648.83843,N,12158.56980,W,1,09,1.1,-1.16,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,210357.69,3648.8385,N,-12158.5698,W,1,03,00.5,086.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210358.00,3648.83832,N,12158.56950,W,1,09,1.1,-1.36,M,-32.96,M,,*7B : NMEA Update: $GPGGA,210358.69,3648.8383,N,-12158.5694,W,1,03,00.5,088.4,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,210359.00,3648.83837,N,12158.56919,W,1,09,1.1,-1.47,M,-32.96,M,,*74 : NMEA Update: $GPGGA,210359.69,3648.8384,N,-12158.5692,W,1,03,00.5,087.2,M,-99.9,M,,*46 : 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,210400.00,3648.83824,N,12158.56889,W,1,09,1.1,-1.57,M,-32.96,M,,*74 : TerrainNav update at nav time = 1705.003199 : TerrainNav update at dvl time = 1705.003199 : _navData-> (x,y) = (4074724.79, 591321.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210400.69,3648.8382,N,-12158.5688,W,1,03,00.5,082.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,210401.00,3648.83822,N,12158.56851,W,1,09,1.1,-1.77,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,210401.69,3648.8382,N,-12158.5684,W,1,03,00.5,088.8,M,-99.9,M,,*48 : Estimated North Bias at time = 1705.00 : 33.57 : Estimated East Bias at time = 1705.00 : -3.00 : Estimated Depth Bias at time = 1705.00 : -1.11 : Estimated northing and easting = 4074758.36 : 591318.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210402.00,3648.83817,N,12158.56837,W,1,09,1.1,-2.16,M,-32.96,M,,*75 : NMEA Update: $GPGGA,210402.69,3648.8382,N,-12158.5683,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,210403.00,3648.83804,N,12158.56848,W,1,09,1.1,-2.57,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210403.69,3648.8380,N,-12158.5685,W,1,03,00.5,083.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210404.00,3648.83804,N,12158.56864,W,1,09,1.1,-2.40,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,210404.69,3648.8380,N,-12158.5686,W,1,03,00.5,086.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210405.00,3648.83801,N,12158.56871,W,1,09,1.1,-2.15,M,-32.96,M,,*74 : TerrainNav update at nav time = 1710.002857 : TerrainNav update at dvl time = 1710.002857 : _navData-> (x,y) = (4074724.38, 591321.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210405.69,3648.8380,N,-12158.5687,W,1,03,00.5,083.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210406.00,3648.83821,N,12158.56860,W,1,09,1.1,-1.95,M,-32.96,M,,*7E : Estimated North Bias at time = 1710.00 : 33.58 : Estimated East Bias at time = 1710.00 : -2.57 : Estimated Depth Bias at time = 1710.00 : -1.10 : Estimated northing and easting = 4074757.95 : 591318.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210406.69,3648.8382,N,-12158.5686,W,1,03,00.5,086.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210407.00,3648.83824,N,12158.56854,W,1,09,1.1,-1.49,M,-32.96,M,,*7C : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210407.69,3648.8383,N,-12158.5685,W,1,03,00.5,084.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210408.00,3648.83828,N,12158.56818,W,1,09,1.1,-1.39,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,210408.69,3648.8383,N,-12158.5681,W,1,03,00.5,088.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210409.00,3648.83838,N,12158.56776,W,1,09,1.1,-0.95,M,-32.96,M,,*70 : NMEA Update: $GPGGA,210409.69,3648.8384,N,-12158.5677,W,1,03,00.5,086.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210410.00,3648.83839,N,12158.56734,W,1,09,1.1,-1.20,M,-32.96,M,,*70 : TerrainNav update at nav time = 1715.002514 : TerrainNav update at dvl time = 1715.002514 : _navData-> (x,y) = (4074725.17, 591323.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210410.69,3648.8384,N,-12158.5672,W,1,03,00.5,085.8,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210411.00,3648.83839,N,12158.56705,W,1,09,1.1,-1.77,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 = 1715.00 : 33.57 : Estimated East Bias at time = 1715.00 : -2.41 : Estimated Depth Bias at time = 1715.00 : -1.10 : Estimated northing and easting = 4074758.74 : 591321.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210411.69,3648.8384,N,-12158.5670,W,1,03,00.5,085.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210412.00,3648.83831,N,12158.56698,W,1,09,1.1,-2.28,M,-32.96,M,,*76 : NMEA Update: $GPGGA,210412.69,3648.8383,N,-12158.5670,W,1,03,00.5,089.5,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,210413.00,3648.83825,N,12158.56691,W,1,09,1.1,-2.24,M,-32.96,M,,*77 : NMEA Update: $GPGGA,210413.69,3648.8382,N,-12158.5669,W,1,03,00.5,087.0,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,210414.00,3648.83828,N,12158.56678,W,1,09,1.1,-2.49,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210414.69,3648.8383,N,-12158.5667,W,1,03,00.5,092.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210415.00,3648.83831,N,12158.56676,W,1,09,1.1,-2.38,M,-32.96,M,,*70 : TerrainNav update at nav time = 1720.002172 : TerrainNav update at dvl time = 1720.002172 : _navData-> (x,y) = (4074725.01, 591324.31) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210415.69,3648.8383,N,-12158.5668,W,1,03,00.5,087.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210416.00,3648.83852,N,12158.56661,W,1,09,1.1,-1.96,M,-32.96,M,,*77 : Estimated North Bias at time = 1720.00 : 33.57 : Estimated East Bias at time = 1720.00 : -2.09 : Estimated Depth Bias at time = 1720.00 : -1.10 : Estimated northing and easting = 4074758.58 : 591322.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210416.69,3648.8385,N,-12158.5666,W,1,03,00.5,086.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210417.00,3648.83850,N,12158.56641,W,1,09,1.1,-2.01,M,-32.96,M,,*7B : NMEA Update: $GPGGA,210417.69,3648.8385,N,-12158.5664,W,1,03,00.5,083.2,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210418.00,3648.83840,N,12158.56631,W,1,09,1.1,-2.44,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,210418.69,3648.8384,N,-12158.5663,W,1,03,00.5,086.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210419.00,3648.83829,N,12158.56639,W,1,09,1.1,-2.47,M,-32.96,M,,*76 : NMEA Update: $GPGGA,210419.69,3648.8383,N,-12158.5664,W,1,03,00.5,090.5,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,210420.00,3648.83832,N,12158.56635,W,1,09,1.1,-1.83,M,-32.96,M,,*71 : TerrainNav update at nav time = 1725.001829 : TerrainNav update at dvl time = 1725.001829 : _navData-> (x,y) = (4074725.00, 591324.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210420.69,3648.8383,N,-12158.5664,W,1,03,00.5,090.4,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,210421.00,3648.83828,N,12158.56623,W,1,09,1.1,-1.71,M,-32.96,M,,*71 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210421.69,3648.8383,N,-12158.5662,W,1,03,00.5,090.0,M,-99.9,M,,*42 : Estimated North Bias at time = 1725.00 : 33.56 : Estimated East Bias at time = 1725.00 : -2.07 : Estimated Depth Bias at time = 1725.00 : -1.10 : Estimated northing and easting = 4074758.56 : 591322.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210422.00,3648.83830,N,12158.56602,W,1,09,1.1,-1.20,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,210422.69,3648.8383,N,-12158.5660,W,1,03,00.5,087.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210423.00,3648.83825,N,12158.56557,W,1,09,1.1,-0.82,M,-32.96,M,,*73 : NMEA Update: $GPGGA,210423.69,3648.8383,N,-12158.5655,W,1,03,00.5,092.2,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,210424.00,3648.83834,N,12158.56494,W,1,09,1.1,-0.92,M,-32.96,M,,*7B : NMEA Update: $GPGGA,210424.69,3648.8384,N,-12158.5648,W,1,03,00.5,087.4,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210425.00,3648.83856,N,12158.56438,W,1,09,1.1,-1.38,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 = 1730.001487 : TerrainNav update at dvl time = 1730.001487 : _navData-> (x,y) = (4074725.50, 591328.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210425.69,3648.8386,N,-12158.5643,W,1,03,00.5,091.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210426.00,3648.83860,N,12158.56421,W,1,09,1.1,-1.97,M,-32.96,M,,*72 : Estimated North Bias at time = 1730.00 : 33.57 : Estimated East Bias at time = 1730.00 : -1.99 : Estimated Depth Bias at time = 1730.00 : -1.10 : Estimated northing and easting = 4074759.07 : 591326.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210426.69,3648.8386,N,-12158.5642,W,1,03,00.5,088.4,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,210427.00,3648.83879,N,12158.56427,W,1,09,1.1,-2.37,M,-32.96,M,,*74 : NMEA Update: $GPGGA,210427.69,3648.8388,N,-12158.5643,W,1,03,00.5,084.8,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,210428.00,3648.83876,N,12158.56459,W,1,09,1.1,-2.02,M,-32.96,M,,*7B : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210428.69,3648.8387,N,-12158.5646,W,1,03,00.5,082.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210429.00,3648.83881,N,12158.56460,W,1,09,1.1,-2.18,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,210429.69,3648.8388,N,-12158.5646,W,1,03,00.5,086.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210430.00,3648.83867,N,12158.56465,W,1,09,1.1,-1.73,M,-32.96,M,,*78 : TerrainNav update at nav time = 1735.001144 : TerrainNav update at dvl time = 1735.001144 : _navData-> (x,y) = (4074725.66, 591327.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210430.69,3648.8386,N,-12158.5646,W,1,03,00.5,086.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210431.00,3648.83869,N,12158.56437,W,1,09,1.1,-1.29,M,-32.96,M,,*7F : Estimated North Bias at time = 1735.00 : 33.56 : Estimated East Bias at time = 1735.00 : -1.48 : Estimated Depth Bias at time = 1735.00 : -1.10 : Estimated northing and easting = 4074759.22 : 591325.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210431.69,3648.8387,N,-12158.5643,W,1,03,00.5,086.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210432.00,3648.83874,N,12158.56388,W,1,09,1.1,-0.69,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,210432.69,3648.8387,N,-12158.5638,W,1,03,00.5,085.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210433.00,3648.83879,N,12158.56331,W,1,09,1.1,-0.82,M,-32.96,M,,*7D : NMEA Update: $GPGGA,210433.69,3648.8388,N,-12158.5632,W,1,03,00.5,086.1,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,210434.00,3648.83871,N,12158.56293,W,1,09,1.1,-1.20,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210434.69,3648.8387,N,-12158.5628,W,1,03,00.5,086.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210435.00,3648.83853,N,12158.56259,W,1,09,1.1,-1.90,M,-32.96,M,,*7E : TerrainNav update at nav time = 1740.000802 : TerrainNav update at dvl time = 1740.000802 : _navData-> (x,y) = (4074725.39, 591330.61) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210435.69,3648.8385,N,-12158.5625,W,1,03,00.5,085.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210436.00,3648.83853,N,12158.56237,W,1,09,1.1,-2.69,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 = 1740.00 : 33.58 : Estimated East Bias at time = 1740.00 : -1.26 : Estimated Depth Bias at time = 1740.00 : -1.10 : Estimated northing and easting = 4074758.97 : 591329.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210436.69,3648.8386,N,-12158.5623,W,1,03,00.5,088.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210437.00,3648.83862,N,12158.56268,W,1,09,1.1,-2.98,M,-32.96,M,,*77 : NMEA Update: $GPGGA,210437.69,3648.8387,N,-12158.5628,W,1,03,00.5,085.3,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,210438.00,3648.83876,N,12158.56284,W,1,09,1.1,-2.74,M,-32.96,M,,*7D : NMEA Update: $GPGGA,210438.69,3648.8387,N,-12158.5628,W,1,03,00.5,084.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210439.00,3648.83883,N,12158.56285,W,1,09,1.1,-2.55,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,210439.69,3648.8388,N,-12158.5628,W,1,03,00.5,084.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210440.00,3648.83865,N,12158.56283,W,1,09,1.1,-1.94,M,-32.96,M,,*7A : TerrainNav update at nav time = 1745.000459 : TerrainNav update at dvl time = 1745.000459 : _navData-> (x,y) = (4074725.65, 591330.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210440.69,3648.8386,N,-12158.5628,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,210441.00,3648.83862,N,12158.56240,W,1,09,1.1,-1.50,M,-32.96,M,,*7B : Estimated North Bias at time = 1745.00 : 33.61 : Estimated East Bias at time = 1745.00 : -0.63 : Estimated Depth Bias at time = 1745.00 : -1.10 : Estimated northing and easting = 4074759.27 : 591329.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210441.69,3648.8386,N,-12158.5624,W,1,03,00.5,089.9,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,210442.00,3648.83856,N,12158.56205,W,1,09,1.1,-1.15,M,-32.96,M,,*7F : NMEA Update: $GPGGA,210442.69,3648.8386,N,-12158.5620,W,1,03,00.5,085.1,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210443.00,3648.83866,N,12158.56153,W,1,09,1.1,-1.41,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,210443.69,3648.8387,N,-12158.5614,W,1,03,00.5,086.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210444.00,3648.83862,N,12158.56123,W,1,09,1.1,-1.66,M,-32.96,M,,*7D : NMEA Update: $GPGGA,210444.69,3648.8386,N,-12158.5612,W,1,03,00.5,084.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210445.00,3648.83860,N,12158.56103,W,1,09,1.1,-2.04,M,-32.96,M,,*7B : TerrainNav update at nav time = 1750.000117 : TerrainNav update at dvl time = 1750.000117 : _navData-> (x,y) = (4074725.59, 591332.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210445.69,3648.8386,N,-12158.5610,W,1,03,00.5,087.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210446.00,3648.83862,N,12158.56081,W,1,09,1.1,-1.81,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,210446.69,3648.8386,N,-12158.5608,W,1,03,00.5,086.3,M,-99.9,M,,*4e : Estimated North Bias at time = 1750.00 : 33.65 : Estimated East Bias at time = 1750.00 : -0.01 : Estimated Depth Bias at time = 1750.00 : -1.09 : Estimated northing and easting = 4074759.24 : 591332.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210447.00,3648.83860,N,12158.56039,W,1,09,1.1,-1.94,M,-32.96,M,,*7B : NMEA Update: $GPGGA,210447.69,3648.8386,N,-12158.5603,W,1,03,00.5,083.8,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,210448.00,3648.83848,N,12158.56030,W,1,09,1.1,-2.83,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210448.69,3648.8385,N,-12158.5603,W,1,03,00.5,084.6,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,210449.00,3648.83850,N,12158.56053,W,1,09,1.1,-3.12,M,-32.96,M,,*76 : NMEA Update: $GPGGA,210449.69,3648.8385,N,-12158.5606,W,1,03,00.5,085.8,M,-99.9,M,,*44 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210450.00,3648.83855,N,12158.56069,W,1,09,1.1,-2.88,M,-32.96,M,,*70 : TerrainNav update at nav time = 1754.999774 : TerrainNav update at dvl time = 1754.999774 : _navData-> (x,y) = (4074725.52, 591333.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210450.69,3648.8386,N,-12158.5607,W,1,03,00.5,087.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210451.00,3648.83851,N,12158.56068,W,1,09,1.1,-2.25,M,-32.96,M,,*73 : Estimated North Bias at time = 1755.00 : 33.64 : Estimated East Bias at time = 1755.00 : 0.26 : Estimated Depth Bias at time = 1755.00 : -1.09 : Estimated northing and easting = 4074759.17 : 591333.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210451.69,3648.8385,N,-12158.5607,W,1,03,00.5,084.1,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,210452.00,3648.83848,N,12158.56044,W,1,08,1.1,-1.90,M,-32.96,M,,*7A : NMEA Update: $GPGGA,210452.69,3648.8385,N,-12158.5604,W,1,03,00.5,085.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210453.00,3648.83842,N,12158.56042,W,1,08,1.1,-1.63,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 : NMEA Update: $GPGGA,210453.69,3648.8384,N,-12158.5604,W,1,03,00.5,087.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210454.00,3648.83841,N,12158.56020,W,1,08,1.1,-1.66,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210454.69,3648.8384,N,-12158.5602,W,1,03,00.5,086.7,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,210455.00,3648.83830,N,12158.56011,W,1,08,1.1,-1.37,M,-32.96,M,,*7F : TerrainNav update at nav time = 1759.999432 : TerrainNav update at dvl time = 1759.999432 : _navData-> (x,y) = (4074725.03, 591334.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210455.69,3648.8383,N,-12158.5601,W,1,03,00.5,085.8,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,210456.00,3648.83825,N,12158.55977,W,1,08,1.1,-1.12,M,-32.96,M,,*75 : NMEA Update: $GPGGA,210456.69,3648.8382,N,-12158.5597,W,1,03,00.5,085.6,M,-99.9,M,,*48 : Estimated North Bias at time = 1760.00 : 33.63 : Estimated East Bias at time = 1760.00 : 0.15 : Estimated Depth Bias at time = 1760.00 : -1.09 : Estimated northing and easting = 4074758.65 : 591334.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210457.00,3648.83817,N,12158.55946,W,1,08,1.1,-0.97,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,210457.69,3648.8382,N,-12158.5594,W,1,03,00.5,090.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210458.00,3648.83820,N,12158.55901,W,1,08,1.1,-0.90,M,-32.96,M,,*74 : NMEA Update: $GPGGA,210458.69,3648.8382,N,-12158.5589,W,1,03,00.5,087.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210459.00,3648.83822,N,12158.55868,W,1,08,1.1,-1.25,M,-32.96,M,,*76 : NMEA Update: $GPGGA,210459.69,3648.8382,N,-12158.5586,W,1,03,00.5,085.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210500.00,3648.83822,N,12158.55894,W,1,08,1.1,-1.21,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 = 1764.999089 : TerrainNav update at dvl time = 1764.999089 : _navData-> (x,y) = (4074724.97, 591336.05) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210500.69,3648.8382,N,-12158.5590,W,1,03,00.5,086.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210501.00,3648.83843,N,12158.55876,W,1,08,1.1,-1.14,M,-32.96,M,,*70 : Estimated North Bias at time = 1765.00 : 33.63 : Estimated East Bias at time = 1765.00 : 0.28 : Estimated Depth Bias at time = 1765.00 : -1.09 : Estimated northing and easting = 4074758.60 : 591336.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210501.69,3648.8384,N,-12158.5587,W,1,03,00.5,093.3,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,210502.00,3648.83828,N,12158.55905,W,1,08,1.1,-1.55,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210502.69,3648.8383,N,-12158.5590,W,1,03,00.5,077.9,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,210503.00,3648.83834,N,12158.55914,W,1,08,1.1,-1.55,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210503.69,3648.8383,N,-12158.5592,W,1,03,00.5,088.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210504.00,3648.83834,N,12158.55930,W,1,08,1.1,-1.08,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,210504.69,3648.8383,N,-12158.5593,W,1,03,00.5,090.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210505.00,3648.83834,N,12158.55895,W,1,08,1.1,-0.66,M,-32.96,M,,*7D : TerrainNav update at nav time = 1769.998747 : TerrainNav update at dvl time = 1769.998747 : _navData-> (x,y) = (4074725.16, 591335.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210505.69,3648.8383,N,-12158.5589,W,1,03,00.5,086.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210506.00,3648.83830,N,12158.55849,W,1,08,1.1,-0.60,M,-32.96,M,,*7D : NMEA Update: $GPGGA,210506.69,3648.8383,N,-12158.5584,W,1,03,00.5,085.4,M,-99.9,M,,*4d : Estimated North Bias at time = 1770.00 : 33.63 : Estimated East Bias at time = 1770.00 : 0.36 : Estimated Depth Bias at time = 1770.00 : -1.09 : Estimated northing and easting = 4074758.79 : 591336.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210507.00,3648.83816,N,12158.55816,W,1,08,1.1,-0.72,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,210507.69,3648.8381,N,-12158.5581,W,1,03,00.5,087.7,M,-99.9,M,,*4a : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210508.00,3648.83813,N,12158.55753,W,1,08,1.1,-0.72,M,-32.96,M,,*75 : NMEA Update: $GPGGA,210508.69,3648.8381,N,-12158.5574,W,1,03,00.5,088.6,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,210509.00,3648.83802,N,12158.55728,W,1,08,1.1,-1.41,M,-32.96,M,,*79 : NMEA Update: $GPGGA,210509.69,3648.8380,N,-12158.5571,W,1,03,00.5,086.6,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,210510.00,3648.83803,N,12158.55730,W,1,08,1.1,-2.16,M,-32.96,M,,*78 : TerrainNav update at nav time = 1774.998404 : TerrainNav update at dvl time = 1774.998404 : _navData-> (x,y) = (4074724.58, 591338.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210510.69,3648.8380,N,-12158.5573,W,1,03,00.5,086.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210511.00,3648.83803,N,12158.55757,W,1,08,1.1,-2.47,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 : Estimated North Bias at time = 1775.00 : 33.70 : Estimated East Bias at time = 1775.00 : 2.24 : Estimated Depth Bias at time = 1775.00 : -1.09 : Estimated northing and easting = 4074758.29 : 591340.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,210511.69,3648.8380,N,-12158.5576,W,1,03,00.5,087.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210512.00,3648.83800,N,12158.55788,W,1,08,1.1,-2.35,M,-32.96,M,,*7B : NMEA Update: $GPGGA,210512.69,3648.8380,N,-12158.5579,W,1,03,00.5,085.2,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,210513.00,3648.83800,N,12158.55796,W,1,08,1.1,-1.36,M,-32.96,M,,*75 : NMEA Update: $GPGGA,210513.69,3648.8380,N,-12158.5579,W,1,03,00.5,086.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210514.00,3648.83804,N,12158.55753,W,1,08,1.1,-0.63,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,210514.69,3648.8380,N,-12158.5575,W,1,03,00.5,086.5,M,-99.9,M,,*41 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210515.00,3648.83803,N,12158.55714,W,1,08,1.1,0.03,M,-32.96,M,,*50 : TerrainNav update at nav time = 1779.998062 : TerrainNav update at dvl time = 1779.998062 : _navData-> (x,y) = (4074724.63, 591338.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210515.69,3648.8380,N,-12158.5570,W,1,03,00.5,084.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210516.00,3648.83801,N,12158.55657,W,1,08,1.1,-0.43,M,-32.96,M,,*7E : NMEA Update: $GPGGA,210516.69,3648.8380,N,-12158.5565,W,1,03,00.5,088.4,M,-99.9,M,,*4d : Estimated North Bias at time = 1780.00 : 33.69 : Estimated East Bias at time = 1780.00 : 2.05 : Estimated Depth Bias at time = 1780.00 : -1.09 : Estimated northing and easting = 4074758.32 : 591340.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210517.00,3648.83804,N,12158.55632,W,1,08,1.1,-0.35,M,-32.96,M,,*78 : NMEA Update: $GPGGA,210517.68,3648.8380,N,-12158.5562,W,1,03,00.5,090.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210518.00,3648.83818,N,12158.55601,W,1,08,1.1,-1.07,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,210518.68,3648.8382,N,-12158.5560,W,1,03,00.5,084.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210519.00,3648.83814,N,12158.55618,W,1,08,1.1,-1.20,M,-32.96,M,,*7A : NMEA Update: $GPGGA,210519.68,3648.8381,N,-12158.5562,W,1,03,00.5,086.9,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,210520.00,3648.83803,N,12158.55612,W,1,08,1.1,-1.30,M,-32.96,M,,*7D : TerrainNav update at nav time = 1784.997719 : TerrainNav update at dvl time = 1784.997719 : _navData-> (x,y) = (4074724.61, 591340.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210520.68,3648.8380,N,-12158.5561,W,1,03,00.5,089.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210521.00,3648.83794,N,12158.55610,W,1,08,1.1,-0.63,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,210521.68,3648.8379,N,-12158.5561,W,1,03,00.5,087.8,M,-99.9,M,,*49 : Estimated North Bias at time = 1785.00 : 33.69 : Estimated East Bias at time = 1785.00 : 2.01 : Estimated Depth Bias at time = 1785.00 : -1.09 : Estimated northing and easting = 4074758.30 : 591342.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210522.00,3648.83805,N,12158.55582,W,1,08,1.1,-0.47,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210522.68,3648.8381,N,-12158.5557,W,1,03,00.5,087.7,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,210523.00,3648.83808,N,12158.55551,W,1,08,1.1,-0.95,M,-32.96,M,,*7F : NMEA Update: $GPGGA,210523.68,3648.8381,N,-12158.5554,W,1,03,00.5,087.9,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,210524.00,3648.83812,N,12158.55524,W,1,08,1.1,-1.87,M,-32.96,M,,*73 : NMEA Update: $GPGGA,210524.68,3648.8381,N,-12158.5552,W,1,03,00.5,086.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210525.00,3648.83794,N,12158.55561,W,1,08,1.1,-2.21,M,-32.96,M,,*7D : TerrainNav update at nav time = 1789.997377 : TerrainNav update at dvl time = 1789.997377 : _navData-> (x,y) = (4074724.46, 591340.92) : _tercom->outstandingMeas() = 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,210525.68,3648.8379,N,-12158.5557,W,1,03,00.5,083.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210526.00,3648.83790,N,12158.55582,W,1,08,1.1,-1.36,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210526.68,3648.8379,N,-12158.5558,W,1,03,00.5,086.3,M,-99.9,M,,*4e : Estimated North Bias at time = 1790.00 : 33.69 : Estimated East Bias at time = 1790.00 : 1.99 : Estimated Depth Bias at time = 1790.00 : -1.09 : Estimated northing and easting = 4074758.15 : 591342.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210527.00,3648.83787,N,12158.55577,W,1,08,1.1,-1.17,M,-32.96,M,,*7C : NMEA Update: $GPGGA,210527.68,3648.8379,N,-12158.5557,W,1,03,00.5,083.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210528.00,3648.83783,N,12158.55564,W,1,08,1.1,-0.55,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,210528.68,3648.8379,N,-12158.5556,W,1,03,00.5,085.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,210529.00,3648.83798,N,12158.55506,W,1,08,1.1,0.20,M,-32.96,M,,*52 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210529.68,3648.8380,N,-12158.5550,W,1,03,00.5,085.0,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,210530.00,3648.83795,N,12158.55444,W,1,08,1.1,0.14,M,-32.96,M,,*57 : TerrainNav update at nav time = 1794.997034 : TerrainNav update at dvl time = 1794.997034 : _navData-> (x,y) = (4074724.54, 591342.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210530.68,3648.8380,N,-12158.5543,W,1,03,00.5,083.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210531.00,3648.83787,N,12158.55393,W,1,08,1.1,-0.54,M,-32.96,M,,*71 : NMEA Update: $GPGGA,210531.68,3648.8378,N,-12158.5539,W,1,03,00.5,087.9,M,-99.9,M,,*45 : Estimated North Bias at time = 1795.00 : 33.67 : Estimated East Bias at time = 1795.00 : 2.45 : Estimated Depth Bias at time = 1795.00 : -1.08 : Estimated northing and easting = 4074758.21 : 591345.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210532.00,3648.83791,N,12158.55367,W,1,08,1.1,-1.16,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,210532.68,3648.8379,N,-12158.5536,W,1,03,00.5,085.8,M,-99.9,M,,*4b : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,210533.00,3648.83776,N,12158.55362,W,1,08,1.1,-2.05,M,-32.96,M,,*75 : NMEA Update: $GPGGA,210533.68,3648.8378,N,-12158.5536,W,1,03,00.5,083.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210534.00,3648.83782,N,12158.55365,W,1,08,1.1,-1.87,M,-32.96,M,,*77 : NMEA Update: $GPGGA,210534.68,3648.8378,N,-12158.5537,W,1,03,00.5,085.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210535.00,3648.83777,N,12158.55365,W,1,08,1.1,-1.79,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 = 1799.996692 : TerrainNav update at dvl time = 1799.996692 : _navData-> (x,y) = (4074724.16, 591343.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,210535.68,3648.8378,N,-12158.5536,W,1,03,00.5,083.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210536.00,3648.83780,N,12158.55351,W,1,08,1.1,-1.95,M,-32.96,M,,*73 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,210536.68,3648.8378,N,-12158.5535,W,1,03,00.5,083.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 1800.00 : 33.66 : Estimated East Bias at time = 1800.00 : 2.67 : Estimated Depth Bias at time = 1800.00 : -1.08 : Estimated northing and easting = 4074757.82 : 591346.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210537.00,3648.83766,N,12158.55376,W,1,08,1.1,-2.02,M,-32.96,M,,*72 : NMEA Update: $GPGGA,210537.68,3648.8377,N,-12158.5538,W,1,03,00.5,083.0,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,210538.00,3648.83770,N,12158.55388,W,1,08,1.1,-1.83,M,-32.96,M,,*71 : 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. : 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 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : 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 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 m3dmgx1 **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object TailConeInput_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 m3dmgx1 **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object BenthosModemOutout **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object TailConeOutput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 18 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : TerrainAidDestructor Executing. : **** SharedData destructor for object TerrainAidOutput **** : **** SharedData destructor for object CameraOutput **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.