Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleConfigurationServer Supervisor::createTask() - externalCommsServer S: Initializing worksiteServer upervisor: WorkSite::WorkSite -- Adding attributes ::c: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg r: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" eateTask() - navigationServer Supervisor::createTask() - layeredControlServer Sup: WorkSite::WorkSite -- Finished loading parameters e: WorkSite::WorkSite -- Starting Depth is 0.000000 meters rvis: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 or:: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 :cr: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 eate: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 Tas: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 k(): WorkSite server: 0x2300c - dynamicControlServer : New Navigation component constructor : Navigation - Using only the Dvl to compute altitude. : Navigation: Opening Acoustic Modem Interface: Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - parosciSer: Preparing to fork ver : SerialDevice: done... : I'm the child...forking : TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts Sup: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts ervisor: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts ::cr: TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts eat: SerialDevice: done... eTask() : SerialDevice: done... - bluefinBattDriver Supervisor::createTask() - dvlServer Super: SerialDevice: done... visor::createTask() - dropWeightServer : SerialDevice: done... : BluefinBatt driver - running with 2 batteries : SerialDevice: done... : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : BluefineBatt::init() - 2 batteries on 10 second interval Superv: SerialDevice: done... i: SerialDevice: done... sor::cre: Crossbow.cc: In getSerialNumber() ateT: BluefinBatt.cc - Looking for Parosci server ask() -: SerialDevice: done... sonardyneS: BluefinBatt::init() - querying for batt ids erver : Gps: initializing : SerialDevice: done... : SerialDevice: done... Supervisor::createTask() - cameraServer : SerialDevice: done... Supervisor::createTask() - echoSounderServer : SonardyneServer.cc was last compiled on Jan 25 2010, 19:16:17 : SerialDevice: done... Superviso: SerialDevice: done... r::createTask() - benthosServer Supervisor::createTask() - terrainAidServer : SerialDevice: done... : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : DropWeight::initialize - Resetting counters. : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : SonardyneDriver.cc was last compiled on Jan 25 2010, 19:16:13 : Navigation: acommsIF = 0x72ab0 : ahrs if is Ahrs : CameraDriver:: Before navigation IF. : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SerialDeviceDriver::initialize() : Starting DVL Initialization. : SerialDevice: done... : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : BenthosModem::commandMode() - confirming... : SerialDevice: done... : Set verbose level : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : SerialDevice: done... : 3 Modules found : AshtechGps::processRecord() - 85,M,-32.59,M,,*7F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: M : **** EventTriggers::add() - attaching proxy : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1490.000000 m/s Beacon = V4,1 MRPL = 2 ms : Set write delay : 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 : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : Set remote response waiting time : NMEA Update: $GPGGA,204344.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : TerrainAid -- configuration: : mapFileName = PortugueseLedge20080424TopoUTM_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 : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.00 > : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : TE00:00:00.60 > : Turn on doppler correction : BL,10,010,100 > : BP001 > : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04238 > : WP0001 > : WN25 > : Dvl::initialize - The number of cells is 25. : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : 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/PortugueseLedge20080424TopoUTM_NoNan.grd : TerrainAidDriver:: RollOffset is 0.00 : AshtechGps::processRecord() - $GPGGA,204346.00,3642.25687,N,12155.43487,W,1,12,0.8,-5.47,M,-32.59,M,,*7A : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 MAPIO::check_error No such file or directory : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : header is >CS 7 : Dvl record header not found. Resynchronize. : NMEA Update: $GPGGA,204345.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,204347.00,3642.25676,N,12155.43437,W,1,12,0.8,-5.38,M,-32.59,M,,*76 : NMEA Update: $GPGGA,204346.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,204348.00,3642.25679,N,12155.43395,W,1,12,0.8,-5.89,M,-32.59,M,,*73 : BluefinBatt::init() - battery ids are aa b3 : BluefinBatt::init() - found battery aa : BluefinBatt::init() - found battery b3 : NMEA Update: $GPGGA,204347.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,204349.00,3642.25671,N,12155.43380,W,1,12,0.8,-6.13,M,-32.59,M,,*7E : NMEA Update: $GPGGA,204348.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,204350.00,3642.25672,N,12155.43356,W,1,12,0.8,-6.79,M,-32.59,M,,*72 : NMEA Update: $GPGGA,204349.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,204351.00,3642.25672,N,12155.43345,W,1,12,0.8,-6.39,M,-32.59,M,,*75 : NMEA Update: $GPGGA,204350.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : Parosci.cc -- Initial pressure = 1.034214 : AshtechGps::processRecord() - $GPGGA,204352.00,3642.25666,N,12155.43332,W,1,12,0.8,-6.56,M,-32.59,M,,*7A : Parosci.cc -- Parosci initial pressure period = 30.138720 : NMEA Update: $GPGGA,204351.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : Parosci.cc -- Parosci initial temp period = 5.841988 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,204353.00,3642.25665,N,12155.43315,W,1,12,0.8,-6.51,M,-32.59,M,,*7A : BluefinBatt::init() - battery watchdog state is $aawf 1 : NMEA Update: $GPGGA,204352.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,204354.00,3642.25665,N,12155.43304,W,1,12,0.8,-6.49,M,-32.59,M,,*74 : NMEA Update: $GPGGA,204353.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,204355.00,3642.25670,N,12155.43292,W,1,12,0.8,-6.30,M,-32.59,M,,*71 : NMEA Update: $GPGGA,204354.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,204356.00,3642.25669,N,12155.43271,W,1,12,0.8,-6.07,M,-32.59,M,,*73 : NMEA Update: $GPGGA,204355.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,204357.00,3642.25680,N,12155.43242,W,1,12,0.8,-6.49,M,-32.59,M,,*7F : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : NMEA Update: $GPGGA,204356.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,204358.00,3642.25670,N,12155.43226,W,1,12,0.8,-6.19,M,-32.59,M,,*78 : BluefinBatt::init() - battery watchdog state is $b3wf 1 : PeriodicTask::run() (BluefinBatt) - sampleInterval=10000, maxInterval=10000 : NMEA Update: $GPGGA,204357.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,204359.00,3642.25659,N,12155.43187,W,1,12,0.8,-5.86,M,-32.59,M,,*7F : NMEA Update: $GPGGA,204358.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : AshtechGps::processRecord() - $GPGGA,204400.00,3642.25653,N,12155.43147,W,1,12,0.8,-5.83,M,-32.59,M,,*77 : NMEA Update: $GPGGA,204359.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5d : AshtechGps::processRecord() - $GPGGA,204401.00,3642.25649,N,12155.43119,W,1,12,0.8,-6.42,M,-32.59,M,,*78 : NMEA Update: $GPGGA,204400.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,204402.00,3642.25656,N,12155.43095,W,1,12,0.8,-6.78,M,-32.59,M,,*79 : NMEA Update: $GPGGA,204401.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,204403.00,3642.25657,N,12155.43088,W,1,12,0.8,-6.78,M,-32.59,M,,*75 : NMEA Update: $GPGGA,204402.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,204404.00,3642.25654,N,12155.43075,W,1,12,0.8,-6.42,M,-32.59,M,,*7A : NMEA Update: $GPGGA,204403.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : AshtechGps::processRecord() - $GPGGA,204405.00,3642.25648,N,12155.43046,W,1,12,0.8,-6.25,M,-32.59,M,,*77 : NMEA Update: $GPGGA,204404.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,204406.00,3642.25649,N,12155.43028,W,1,12,0.8,-6.33,M,-32.59,M,,*7A : NMEA Update: $GPGGA,204405.91,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,204407.00,3642.25648,N,12155.43012,W,1,12,0.8,-6.04,M,-32.59,M,,*77 : 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 : **** 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,204406.91,3642.2565,N,-12155.4301,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,204408.00,3642.25652,N,12155.42995,W,1,12,0.8,-6.11,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,204407.91,3642.2565,N,-12155.4299,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204409.00,3642.25652,N,12155.42978,W,1,12,0.8,-6.11,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : NMEA Update: $GPGGA,204408.91,3642.2565,N,-12155.4298,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : BluefinBatt Reply: $aaq0 d- 30.87 1.51 16.30 3.84 3.88 0 -9304.71 05:47:47 m : AshtechGps::processRecord() - $GPGGA,204410.00,3642.25646,N,12155.42961,W,1,12,0.8,-6.05,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204409.91,3642.2565,N,-12155.4296,W,1,03,00.5,080.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204411.00,3642.25647,N,12155.42930,W,1,12,0.8,-5.90,M,-32.59,M,,*79 : 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,204410.91,3642.2565,N,-12155.4293,W,1,03,00.5,079.5,M,-99.9,M,,*48 : BluefinBatt Reply: $b3q0 d- 30.98 0.75 17.77 3.78 3.89 0 9240.18 05:47:50 m : AshtechGps::processRecord() - $GPGGA,204412.00,3642.25636,N,12155.42890,W,1,12,0.8,-5.75,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,204411.91,3642.2564,N,-12155.4288,W,1,03,00.5,080.6,M,-99.9,M,,*47 : batts online 2, min cell voltage 3.780000, mean min cell voltage 3.810000 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204413.00,3642.25638,N,12155.42847,W,1,12,0.8,-5.92,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : NMEA Update: $GPGGA,204412.91,3642.2564,N,-12155.4284,W,1,03,00.5,080.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204414.00,3642.25636,N,12155.42829,W,1,12,0.8,-6.03,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,204413.91,3642.2564,N,-12155.4283,W,1,03,00.5,080.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204415.00,3642.25638,N,12155.42799,W,1,12,0.8,-6.21,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,204414.91,3642.2564,N,-12155.4279,W,1,03,00.5,081.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,204416.00,3642.25629,N,12155.42777,W,1,12,0.8,-6.31,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.599411) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.599411) Behavior setpoint:-1 has changed to state Active : NMEA Update: $GPGGA,204415.91,3642.2563,N,-12155.4277,W,1,03,00.5,080.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204417.00,3642.25623,N,12155.42754,W,1,12,0.8,-6.32,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204416.91,3642.2562,N,-12155.4275,W,1,03,00.5,079.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204418.00,3642.25621,N,12155.42744,W,1,12,0.8,-6.56,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204417.91,3642.2562,N,-12155.4274,W,1,03,00.5,080.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204419.00,3642.25627,N,12155.42744,W,1,12,0.8,-6.65,M,-32.59,M,,*73 : NMEA Update: $GPGGA,204418.91,3642.2563,N,-12155.4275,W,1,03,00.5,079.6,M,-99.9,M,,*4d : BluefinBatt Reply: $aaq0 d- 30.76 3.22 16.30 3.84 3.88 0 -9304.92 05:47:57 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204420.00,3642.25630,N,12155.42729,W,1,12,0.8,-6.25,M,-32.59,M,,*70 : NMEA Update: $GPGGA,204419.91,3642.2563,N,-12155.4273,W,1,03,00.5,079.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204421.00,3642.25638,N,12155.42714,W,1,12,0.8,-6.13,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204420.91,3642.2564,N,-12155.4271,W,1,03,00.5,080.2,M,-99.9,M,,*47 : BluefinBatt Reply: $b3q0 d- 30.86 2.96 17.77 3.76 3.87 0 9239.96 05:48:00 m : AshtechGps::processRecord() - $GPGGA,204422.00,3642.25642,N,12155.42697,W,1,12,0.8,-5.78,M,-32.59,M,,*78 : NMEA Update: $GPGGA,204421.91,3642.2564,N,-12155.4269,W,1,03,00.5,080.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.760000, mean min cell voltage 3.800000 : AshtechGps::processRecord() - $GPGGA,204423.00,3642.25649,N,12155.42674,W,1,12,0.8,-5.81,M,-32.59,M,,*79 : NMEA Update: $GPGGA,204422.91,3642.2565,N,-12155.4267,W,1,03,00.5,080.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204424.00,3642.25656,N,12155.42664,W,1,12,0.8,-6.06,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204423.91,3642.2566,N,-12155.4266,W,1,03,00.5,079.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204425.00,3642.25672,N,12155.42667,W,1,12,0.8,-6.55,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204424.91,3642.2567,N,-12155.4267,W,1,03,00.5,083.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204426.00,3642.25672,N,12155.42686,W,1,12,0.8,-6.30,M,-32.59,M,,*70 : NMEA Update: $GPGGA,204425.91,3642.2567,N,-12155.4269,W,1,03,00.5,079.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204427.00,3642.25688,N,12155.42695,W,1,12,0.8,-6.35,M,-32.59,M,,*73 : NMEA Update: $GPGGA,204426.91,3642.2569,N,-12155.4270,W,1,03,00.5,081.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204428.00,3642.25703,N,12155.42708,W,1,12,0.8,-6.14,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204427.91,3642.2570,N,-12155.4271,W,1,03,00.5,080.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204429.00,3642.25724,N,12155.42718,W,1,12,0.8,-6.22,M,-32.59,M,,*78 : NMEA Update: $GPGGA,204428.91,3642.2573,N,-12155.4272,W,1,03,00.5,079.6,M,-99.9,M,,*48 : BluefinBatt Reply: $aaq0 d- 30.72 4.23 16.30 3.82 3.86 0 -9305.22 05:48:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204430.00,3642.25748,N,12155.42719,W,1,12,0.8,-6.17,M,-32.59,M,,*7D : NMEA Update: $GPGGA,204429.91,3642.2575,N,-12155.4272,W,1,03,00.5,079.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204431.00,3642.25770,N,12155.42729,W,1,12,0.8,-6.40,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204430.91,3642.2578,N,-12155.4273,W,1,03,00.5,080.5,M,-99.9,M,,*4e : BluefinBatt Reply: $b3q0 d- 30.78 3.65 17.77 3.76 3.87 0 9239.69 05:48:10 m : AshtechGps::processRecord() - $GPGGA,204432.00,3642.25804,N,12155.42731,W,1,11,0.9,-6.68,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204431.91,3642.2581,N,-12155.4273,W,1,03,00.5,080.3,M,-99.9,M,,*4f : batts online 2, min cell voltage 3.760000, mean min cell voltage 3.790000 : AshtechGps::processRecord() - $GPGGA,204433.00,3642.25826,N,12155.42764,W,1,12,0.8,-6.29,M,-32.59,M,,*7E : NMEA Update: $GPGGA,204432.91,3642.2583,N,-12155.4277,W,1,03,00.5,080.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204434.00,3642.25858,N,12155.42775,W,1,12,0.8,-6.14,M,-32.59,M,,*7E : NMEA Update: $GPGGA,204433.91,3642.2586,N,-12155.4278,W,1,03,00.5,080.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204435.00,3642.25895,N,12155.42796,W,1,12,0.8,-6.42,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204434.91,3642.2590,N,-12155.4280,W,1,03,00.5,080.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204436.00,3642.25931,N,12155.42814,W,1,12,0.8,-6.34,M,-32.59,M,,*78 : NMEA Update: $GPGGA,204435.91,3642.2594,N,-12155.4282,W,1,03,00.5,079.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204437.00,3642.25979,N,12155.42830,W,1,12,0.8,-6.41,M,-32.59,M,,*71 : NMEA Update: $GPGGA,204436.91,3642.2599,N,-12155.4283,W,1,03,00.5,080.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204438.00,3642.26024,N,12155.42869,W,1,12,0.8,-6.23,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204437.91,3642.2603,N,-12155.4288,W,1,03,00.5,079.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204439.00,3642.26064,N,12155.42857,W,1,12,0.8,-5.67,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204438.91,3642.2607,N,-12155.4286,W,1,03,00.5,077.4,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.64 5.82 16.30 3.82 3.86 0 -9305.77 05:48:17 m : AshtechGps::processRecord() - $GPGGA,204440.00,3642.26101,N,12155.42861,W,1,12,0.8,-5.54,M,-32.59,M,,*76 : NMEA Update: $GPGGA,204439.91,3642.2611,N,-12155.4286,W,1,03,00.5,080.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204441.00,3642.26158,N,12155.42846,W,1,12,0.8,-5.81,M,-32.59,M,,*76 : NMEA Update: $GPGGA,204440.91,3642.2617,N,-12155.4285,W,1,03,00.5,079.6,M,-99.9,M,,*4f : BluefinBatt Reply: $b3q0 d- 30.78 4.33 17.77 3.75 3.86 0 9239.24 05:48:20 m : AshtechGps::processRecord() - $GPGGA,204442.00,3642.26203,N,12155.42839,W,1,12,0.8,-5.62,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204441.91,3642.2621,N,-12155.4284,W,1,03,00.5,081.6,M,-99.9,M,,*4d : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.785000 : AshtechGps::processRecord() - $GPGGA,204443.00,3642.26267,N,12155.42831,W,1,12,0.8,-6.25,M,-32.59,M,,*76 : NMEA Update: $GPGGA,204442.91,3642.2628,N,-12155.4283,W,1,03,00.5,079.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204444.00,3642.26323,N,12155.42823,W,1,12,0.8,-6.57,M,-32.59,M,,*76 : NMEA Update: $GPGGA,204443.91,3642.2634,N,-12155.4282,W,1,03,00.5,081.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204445.00,3642.26387,N,12155.42859,W,1,12,0.8,-7.06,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204444.91,3642.2640,N,-12155.4287,W,1,03,00.5,080.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204446.00,3642.26456,N,12155.42866,W,1,12,0.8,-6.86,M,-32.59,M,,*7C : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 38.797342) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 38.797342) Behavior descend:-1 has changed to state Active : PeriodicTask::run() (terrainAidDriver) - sampleInterval=5000, maxInterval=5000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204445.91,3642.2647,N,-12155.4287,W,1,03,00.5,078.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204447.00,3642.26523,N,12155.42872,W,1,12,0.8,-6.52,M,-32.59,M,,*72 : NMEA Update: $GPGGA,204446.91,3642.2653,N,-12155.4287,W,1,03,00.5,080.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204448.00,3642.26593,N,12155.42871,W,1,12,0.8,-6.13,M,-32.59,M,,*70 : NMEA Update: $GPGGA,204447.91,3642.2661,N,-12155.4287,W,1,03,00.5,081.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204449.00,3642.26642,N,12155.42812,W,1,12,0.8,-5.07,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204448.91,3642.2665,N,-12155.4280,W,1,03,00.5,082.9,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.68 4.93 16.30 3.82 3.86 0 -9306.08 05:48:27 m : AshtechGps::processRecord() - $GPGGA,204450.00,3642.26684,N,12155.42778,W,1,12,0.8,-5.04,M,-32.59,M,,*7F : NMEA Update: $GPGGA,204449.91,3642.2669,N,-12155.4278,W,1,03,00.5,080.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204451.00,3642.26730,N,12155.42708,W,1,12,0.8,-5.32,M,-32.59,M,,*72 : TerrainAidDriver:: _navTime0 = 1264625090.40 : TerrainAidDriver:: _dvlTime0 = 74689.34 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4062627.22, 596128.50) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204450.91,3642.2674,N,-12155.4270,W,1,03,00.5,076.2,M,-99.9,M,,*4a : Estimated North Bias at time = 0.00 : -0.31 : Estimated East Bias at time = 0.00 : 0.05 : Estimated Depth Bias at time = 0.00 : -0.05 : Estimated northing and easting = 4062626.92 : 596128.55 : BluefinBatt Reply: $b3q0 d- 30.78 3.99 17.77 3.75 3.86 0 9238.96 05:48:30 m : AshtechGps::processRecord() - $GPGGA,204452.00,3642.26776,N,12155.42684,W,1,12,0.8,-5.66,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204451.91,3642.2678,N,-12155.4268,W,1,03,00.5,085.1,M,-99.9,M,,*41 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.785000 : AshtechGps::processRecord() - $GPGGA,204453.00,3642.26838,N,12155.42667,W,1,12,0.8,-6.44,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204452.91,3642.2685,N,-12155.4266,W,1,03,00.5,079.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204454.00,3642.26909,N,12155.42678,W,1,12,0.8,-7.22,M,-32.59,M,,*76 : NMEA Update: $GPGGA,204453.91,3642.2692,N,-12155.4268,W,1,03,00.5,079.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204455.00,3642.26986,N,12155.42711,W,1,12,0.8,-7.42,M,-32.59,M,,*78 : NMEA Update: $GPGGA,204454.91,3642.2700,N,-12155.4272,W,1,03,00.5,081.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204456.00,3642.27047,N,12155.42731,W,1,12,0.8,-6.90,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 4.999658 : TerrainNav update at dvl time = 4.999658 : _navData-> (x,y) = (4062633.16, 596127.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204455.91,3642.2706,N,-12155.4273,W,1,03,00.5,077.9,M,-99.9,M,,*42 : Estimated North Bias at time = 5.00 : -0.27 : Estimated East Bias at time = 5.00 : 0.04 : Estimated Depth Bias at time = 5.00 : -0.05 : Estimated northing and easting = 4062632.89 : 596127.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204457.00,3642.27106,N,12155.42745,W,1,12,0.8,-6.30,M,-32.59,M,,*7E : NMEA Update: $GPGGA,204456.91,3642.2712,N,-12155.4275,W,1,03,00.5,080.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204458.00,3642.27172,N,12155.42745,W,1,12,0.8,-6.21,M,-32.59,M,,*72 : NMEA Update: $GPGGA,204457.90,3642.2719,N,-12155.4274,W,1,03,00.5,079.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204459.00,3642.27236,N,12155.42725,W,1,12,0.8,-5.98,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204458.90,3642.2725,N,-12155.4272,W,1,03,00.5,078.4,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.64 5.41 16.30 3.82 3.86 0 -9306.59 05:48:37 m : AshtechGps::processRecord() - $GPGGA,204500.00,3642.27296,N,12155.42712,W,1,12,0.8,-5.84,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204459.90,3642.2731,N,-12155.4271,W,1,03,00.5,079.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204501.00,3642.27355,N,12155.42675,W,1,12,0.8,-5.85,M,-32.59,M,,*77 : TerrainNav update at nav time = 9.999315 : TerrainNav update at dvl time = 9.999315 : _navData-> (x,y) = (4062638.81, 596128.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204500.90,3642.2737,N,-12155.4267,W,1,03,00.5,078.2,M,-99.9,M,,*41 : Estimated North Bias at time = 10.00 : -0.29 : Estimated East Bias at time = 10.00 : 0.04 : Estimated Depth Bias at time = 10.00 : -0.05 : Estimated northing and easting = 4062638.52 : 596128.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.78 3.87 17.77 3.75 3.86 0 9238.52 05:48:40 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204502.00,3642.27412,N,12155.42668,W,1,12,0.8,-6.25,M,-32.59,M,,*75 : NMEA Update: $GPGGA,204501.90,3642.2742,N,-12155.4266,W,1,03,00.5,078.4,M,-99.9,M,,*45 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.785000 : AshtechGps::processRecord() - $GPGGA,204503.00,3642.27468,N,12155.42658,W,1,12,0.8,-6.74,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204502.90,3642.2748,N,-12155.4266,W,1,03,00.5,079.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204504.00,3642.27481,N,12155.42659,W,1,11,0.8,-7.01,M,-32.59,M,,*7F : NMEA Update: $GPGGA,204503.90,3642.2749,N,-12155.4266,W,1,03,00.5,080.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204504.90,3642.2751,N,-12155.4267,W,1,03,00.5,075.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 14.998973 : TerrainNav update at dvl time = 14.998973 : _navData-> (x,y) = (4062642.12, 596128.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204505.90,3642.2755,N,-12155.4266,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,204507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204506.90,3642.2760,N,-12155.4266,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : Estimated North Bias at time = 15.00 : 1.23 : Estimated East Bias at time = 15.00 : 2.93 : Estimated Depth Bias at time = 15.00 : -0.05 : Estimated northing and easting = 4062643.35 : 596131.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204507.90,3642.2764,N,-12155.4266,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204508.90,3642.2769,N,-12155.4266,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : BluefinBatt Reply: $aaq0 d- 30.60 5.56 16.30 3.82 3.86 0 -9306.84 05:48:47 m : AshtechGps::processRecord() - $GPGGA,204510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204509.90,3642.2774,N,-12155.4265,W,1,03,00.5,079.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 19.998630 : TerrainNav update at dvl time = 19.998630 : _navData-> (x,y) = (4062646.35, 596129.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204510.90,3642.2778,N,-12155.4263,W,1,03,00.5,078.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.75 5.21 17.77 3.75 3.86 0 9238.28 05:48:50 m : AshtechGps::processRecord() - $GPGGA,204512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204511.90,3642.2783,N,-12155.4260,W,1,03,00.5,078.8,M,-99.9,M,,*43 : Estimated North Bias at time = 20.00 : 1.32 : Estimated East Bias at time = 20.00 : 2.67 : Estimated Depth Bias at time = 20.00 : -0.05 : Estimated northing and easting = 4062647.66 : 596131.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.785000 : AshtechGps::processRecord() - $GPGGA,204513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204512.90,3642.2788,N,-12155.4258,W,1,03,00.5,077.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204513.90,3642.2795,N,-12155.4256,W,1,03,00.5,077.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204514.90,3642.2803,N,-12155.4256,W,1,03,00.5,075.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 24.998288 : TerrainNav update at dvl time = 24.998288 : _navData-> (x,y) = (4062652.24, 596130.28) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204515.90,3642.2811,N,-12155.4256,W,1,03,00.5,076.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204516.90,3642.2819,N,-12155.4258,W,1,03,00.5,075.5,M,-99.9,M,,*43 : Estimated North Bias at time = 25.00 : -0.58 : Estimated East Bias at time = 25.00 : 3.60 : Estimated Depth Bias at time = 25.00 : -0.05 : Estimated northing and easting = 4062651.66 : 596133.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204517.90,3642.2826,N,-12155.4259,W,1,03,00.5,075.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204518.90,3642.2833,N,-12155.4260,W,1,03,00.5,075.2,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.60 5.90 16.40 3.82 3.86 0 -9307.45 05:48:57 m : AshtechGps::processRecord() - $GPGGA,204520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204519.90,3642.2839,N,-12155.4259,W,1,03,00.5,075.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4062658.74, 596130.02) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204520.90,3642.2845,N,-12155.4257,W,1,03,00.5,076.4,M,-99.9,M,,*42 : BluefinBatt Reply: $b3q0 d- 30.75 4.33 17.77 3.74 3.86 0 9237.81 05:49:00 m : AshtechGps::processRecord() - $GPGGA,204522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204521.90,3642.2852,N,-12155.4254,W,1,03,00.5,076.9,M,-99.9,M,,*4b : Estimated North Bias at time = 30.00 : 0.43 : Estimated East Bias at time = 30.00 : 3.08 : Estimated Depth Bias at time = 30.00 : -0.05 : Estimated northing and easting = 4062659.16 : 596133.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.780000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204522.90,3642.2860,N,-12155.4253,W,1,03,00.5,075.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204523.90,3642.2868,N,-12155.4254,W,1,03,00.5,075.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204524.90,3642.2876,N,-12155.4256,W,1,03,00.5,074.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 34.997603 : TerrainNav update at dvl time = 34.997603 : _navData-> (x,y) = (4062665.91, 596129.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204525.90,3642.2885,N,-12155.4257,W,1,03,00.5,074.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204526.90,3642.2892,N,-12155.4257,W,1,03,00.5,074.9,M,-99.9,M,,*41 : Estimated North Bias at time = 35.00 : -0.88 : Estimated East Bias at time = 35.00 : 4.95 : Estimated Depth Bias at time = 35.00 : -0.05 : Estimated northing and easting = 4062665.03 : 596134.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204527.90,3642.2900,N,-12155.4256,W,1,03,00.5,074.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204528.90,3642.2908,N,-12155.4254,W,1,03,00.5,074.6,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.64 5.12 16.40 3.80 3.85 0 -9307.82 05:49:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204529.90,3642.2916,N,-12155.4253,W,1,03,00.5,074.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 39.997260 : TerrainNav update at dvl time = 39.997260 : _navData-> (x,y) = (4062673.18, 596130.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204530.90,3642.2924,N,-12155.4253,W,1,03,00.5,074.1,M,-99.9,M,,*46 : BluefinBatt Reply: $b3q0 d- 30.78 4.14 17.77 3.74 3.86 0 9237.46 05:49:10 m : AshtechGps::processRecord() - $GPGGA,204532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Descend::execute() - Descend terminating on depth 8.050253 > 8.000000 at time 84.794191 : LayeredControl::execute() -- (t = 84.794191) Behavior descend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 84.794191) Behavior setpoint:-1 has changed to state Active : NMEA Update: $GPGGA,204531.90,3642.2932,N,-12155.4254,W,1,03,00.5,073.2,M,-99.9,M,,*43 : Estimated North Bias at time = 40.00 : -0.74 : Estimated East Bias at time = 40.00 : 3.59 : Estimated Depth Bias at time = 40.00 : -0.05 : Estimated northing and easting = 4062672.44 : 596134.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204532.90,3642.2940,N,-12155.4255,W,1,03,00.5,073.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204533.90,3642.2948,N,-12155.4255,W,1,03,00.5,073.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204534.90,3642.2956,N,-12155.4255,W,1,03,00.5,073.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 44.996917 : TerrainNav update at dvl time = 44.996917 : _navData-> (x,y) = (4062680.52, 596130.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204535.90,3642.2964,N,-12155.4255,W,1,03,00.5,073.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204536.90,3642.2971,N,-12155.4255,W,1,03,00.5,072.3,M,-99.9,M,,*42 : Estimated North Bias at time = 45.00 : -0.41 : Estimated East Bias at time = 45.00 : 3.65 : Estimated Depth Bias at time = 45.00 : -0.05 : Estimated northing and easting = 4062680.10 : 596133.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204537.90,3642.2979,N,-12155.4255,W,1,03,00.5,073.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204538.90,3642.2988,N,-12155.4256,W,1,03,00.5,072.0,M,-99.9,M,,*4a : BluefinBatt Reply: $aaq0 d- 30.64 4.97 16.40 3.80 3.85 0 -9308.36 05:49:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204539.90,3642.2996,N,-12155.4256,W,1,03,00.5,072.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 49.996575 : TerrainNav update at dvl time = 49.996575 : _navData-> (x,y) = (4062688.05, 596129.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204540.90,3642.3004,N,-12155.4256,W,1,03,00.5,072.6,M,-99.9,M,,*4f : BluefinBatt Reply: $b3q0 d- 30.75 4.44 17.87 3.74 3.86 0 9236.97 05:49:20 m : AshtechGps::processRecord() - $GPGGA,204542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204541.90,3642.3013,N,-12155.4256,W,1,03,00.5,072.3,M,-99.9,M,,*4d : Estimated North Bias at time = 50.00 : -0.73 : Estimated East Bias at time = 50.00 : 3.96 : Estimated Depth Bias at time = 50.00 : -0.05 : Estimated northing and easting = 4062687.32 : 596133.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204542.90,3642.3022,N,-12155.4257,W,1,03,00.5,072.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204543.90,3642.3030,N,-12155.4257,W,1,03,00.5,071.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204544.90,3642.3038,N,-12155.4257,W,1,03,00.5,072.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 54.996233 : TerrainNav update at dvl time = 54.996233 : _navData-> (x,y) = (4062695.78, 596129.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204545.90,3642.3046,N,-12155.4256,W,1,03,00.5,071.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204546.90,3642.3054,N,-12155.4256,W,1,03,00.5,071.6,M,-99.9,M,,*4f : Estimated North Bias at time = 55.00 : -0.59 : Estimated East Bias at time = 55.00 : 3.89 : Estimated Depth Bias at time = 55.00 : -0.05 : Estimated northing and easting = 4062695.19 : 596133.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204547.90,3642.3062,N,-12155.4256,W,1,03,00.5,071.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204548.90,3642.3071,N,-12155.4257,W,1,03,00.5,071.7,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.60 5.23 16.40 3.81 3.85 0 -9308.72 05:49:27 m : AshtechGps::processRecord() - $GPGGA,204550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204549.90,3642.3079,N,-12155.4258,W,1,03,00.5,071.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4062703.42, 596129.30) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204550.90,3642.3088,N,-12155.4259,W,1,03,00.5,070.8,M,-99.9,M,,*49 : BluefinBatt Reply: $b3q0 d- 30.75 4.25 17.87 3.74 3.86 0 9236.70 05:49:30 m : AshtechGps::processRecord() - $GPGGA,204552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204551.90,3642.3096,N,-12155.4258,W,1,03,00.5,070.8,M,-99.9,M,,*46 : Estimated North Bias at time = 60.00 : -0.93 : Estimated East Bias at time = 60.00 : 4.53 : Estimated Depth Bias at time = 60.00 : -0.05 : Estimated northing and easting = 4062702.49 : 596133.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,204553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204552.90,3642.3104,N,-12155.4258,W,1,03,00.5,071.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204553.90,3642.3112,N,-12155.4257,W,1,03,00.5,071.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204554.90,3642.3120,N,-12155.4257,W,1,03,00.5,071.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 64.995548 : TerrainNav update at dvl time = 64.995548 : _navData-> (x,y) = (4062711.09, 596129.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204555.90,3642.3129,N,-12155.4258,W,1,03,00.5,071.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204556.90,3642.3138,N,-12155.4258,W,1,03,00.5,071.7,M,-99.9,M,,*4a : Estimated North Bias at time = 65.00 : -1.02 : Estimated East Bias at time = 65.00 : 4.48 : Estimated Depth Bias at time = 65.00 : -0.05 : Estimated northing and easting = 4062710.06 : 596133.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204557.90,3642.3147,N,-12155.4259,W,1,03,00.5,071.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204558.90,3642.3155,N,-12155.4259,W,1,03,00.5,071.3,M,-99.9,M,,*4a : BluefinBatt Reply: $aaq0 d- 30.64 5.19 16.40 3.81 3.85 0 -9309.28 05:49:37 m : AshtechGps::processRecord() - $GPGGA,204600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204559.90,3642.3164,N,-12155.4259,W,1,03,00.5,071.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 69.995205 : TerrainNav update at dvl time = 69.995205 : _navData-> (x,y) = (4062719.11, 596129.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204600.90,3642.3172,N,-12155.4259,W,1,03,00.5,071.2,M,-99.9,M,,*40 : BluefinBatt Reply: $b3q0 d- 30.71 5.01 17.87 3.74 3.86 0 9236.22 05:49:40 m : AshtechGps::processRecord() - $GPGGA,204602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204601.90,3642.3181,N,-12155.4259,W,1,03,00.5,071.0,M,-99.9,M,,*4f : Estimated North Bias at time = 70.00 : -1.04 : Estimated East Bias at time = 70.00 : 4.09 : Estimated Depth Bias at time = 70.00 : -0.05 : Estimated northing and easting = 4062718.07 : 596133.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,204603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204602.90,3642.3189,N,-12155.4258,W,1,03,00.5,071.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204603.90,3642.3196,N,-12155.4258,W,1,03,00.5,072.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204604.90,3642.3205,N,-12155.4258,W,1,03,00.5,071.2,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=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 74.994863 : TerrainNav update at dvl time = 74.994863 : _navData-> (x,y) = (4062726.63, 596129.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,204605.90,3642.3213,N,-12155.4258,W,1,03,00.5,071.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204606.90,3642.3222,N,-12155.4258,W,1,03,00.5,071.5,M,-99.9,M,,*46 : Estimated North Bias at time = 74.99 : -0.70 : Estimated East Bias at time = 74.99 : 4.09 : Estimated Depth Bias at time = 74.99 : -0.05 : Estimated northing and easting = 4062725.93 : 596133.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204607.90,3642.3231,N,-12155.4259,W,1,03,00.5,071.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204608.90,3642.3240,N,-12155.4260,W,1,03,00.5,071.4,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.64 5.60 16.40 3.81 3.85 0 -9309.62 05:49:47 m : AshtechGps::processRecord() - $GPGGA,204610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204609.71,3642.3247,N,-12155.4261,W,1,03,00.5,071.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204610.71,3642.3255,N,-12155.4261,W,1,03,00.5,070.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 79.994520 : TerrainNav update at dvl time = 79.994520 : _navData-> (x,y) = (4062734.75, 596128.64) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 4.10 17.87 3.74 3.86 0 9235.92 05:49:50 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204611.71,3642.3264,N,-12155.4260,W,1,03,00.5,072.1,M,-99.9,M,,*41 : Estimated North Bias at time = 79.99 : -0.69 : Estimated East Bias at time = 79.99 : 4.48 : Estimated Depth Bias at time = 79.99 : -0.05 : Estimated northing and easting = 4062734.07 : 596133.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,204613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204612.71,3642.3272,N,-12155.4259,W,1,03,00.5,072.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,204614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204613.71,3642.3280,N,-12155.4258,W,1,03,00.5,071.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204614.71,3642.3289,N,-12155.4258,W,1,03,00.5,071.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204615.71,3642.3298,N,-12155.4258,W,1,03,00.5,071.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 84.994178 : TerrainNav update at dvl time = 84.994178 : _navData-> (x,y) = (4062742.65, 596128.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204616.71,3642.3307,N,-12155.4259,W,1,03,00.5,070.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 84.99 : -0.99 : Estimated East Bias at time = 84.99 : 4.12 : Estimated Depth Bias at time = 84.99 : -0.05 : Estimated northing and easting = 4062741.66 : 596133.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204617.71,3642.3315,N,-12155.4259,W,1,03,00.5,070.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204619.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204618.71,3642.3323,N,-12155.4260,W,1,03,00.5,070.8,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.64 5.30 16.40 3.81 3.85 0 -9310.16 05:49:57 m : AshtechGps::processRecord() - $GPGGA,204620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204619.71,3642.3332,N,-12155.4261,W,1,03,00.5,070.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204620.71,3642.3340,N,-12155.4262,W,1,03,00.5,071.6,M,-99.9,M,,*42 : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4062750.40, 596128.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.75 4.10 17.96 3.74 3.85 0 9235.43 05:50:00 m : AshtechGps::processRecord() - $GPGGA,204622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204621.71,3642.3349,N,-12155.4263,W,1,03,00.5,070.6,M,-99.9,M,,*4a : Estimated North Bias at time = 89.99 : -0.83 : Estimated East Bias at time = 89.99 : 4.38 : Estimated Depth Bias at time = 89.99 : -0.05 : Estimated northing and easting = 4062749.58 : 596132.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,204623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204622.71,3642.3358,N,-12155.4264,W,1,03,00.5,071.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204623.71,3642.3366,N,-12155.4264,W,1,03,00.5,071.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204624.71,3642.3375,N,-12155.4262,W,1,03,00.5,072.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204625.71,3642.3383,N,-12155.4261,W,1,03,00.5,071.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 94.993493 : TerrainNav update at dvl time = 94.993493 : _navData-> (x,y) = (4062758.40, 596128.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204626.71,3642.3392,N,-12155.4260,W,1,03,00.5,071.6,M,-99.9,M,,*49 : Estimated North Bias at time = 94.99 : -0.88 : Estimated East Bias at time = 94.99 : 3.27 : Estimated Depth Bias at time = 94.99 : -0.05 : Estimated northing and easting = 4062757.52 : 596131.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204627.71,3642.3400,N,-12155.4259,W,1,03,00.5,071.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204628.71,3642.3408,N,-12155.4260,W,1,03,00.5,071.2,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.60 5.19 16.40 3.80 3.85 0 -9310.52 05:50:07 m : AshtechGps::processRecord() - $GPGGA,204630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204629.71,3642.3417,N,-12155.4261,W,1,03,00.5,071.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204630.71,3642.3425,N,-12155.4263,W,1,03,00.5,071.2,M,-99.9,M,,*42 : TerrainNav update at nav time = 99.993150 : TerrainNav update at dvl time = 99.993150 : _navData-> (x,y) = (4062766.15, 596127.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.71 4.75 17.87 3.74 3.85 0 9235.12 05:50:10 m : AshtechGps::processRecord() - $GPGGA,204632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204631.71,3642.3434,N,-12155.4265,W,1,03,00.5,071.8,M,-99.9,M,,*4f : Estimated North Bias at time = 99.99 : -0.80 : Estimated East Bias at time = 99.99 : 4.80 : Estimated Depth Bias at time = 99.99 : -0.05 : Estimated northing and easting = 4062765.35 : 596132.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204632.71,3642.3443,N,-12155.4266,W,1,03,00.5,070.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204633.71,3642.3452,N,-12155.4266,W,1,03,00.5,072.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204634.71,3642.3461,N,-12155.4266,W,1,03,00.5,072.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204635.71,3642.3469,N,-12155.4264,W,1,03,00.5,071.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 105.002807 : TerrainNav update at dvl time = 105.002807 : _navData-> (x,y) = (4062774.23, 596127.70) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204636.71,3642.3477,N,-12155.4263,W,1,03,00.5,072.0,M,-99.9,M,,*42 : Estimated North Bias at time = 105.00 : -0.92 : Estimated East Bias at time = 105.00 : 3.60 : Estimated Depth Bias at time = 105.00 : -0.05 : Estimated northing and easting = 4062773.31 : 596131.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204637.71,3642.3486,N,-12155.4262,W,1,03,00.5,072.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204638.71,3642.3494,N,-12155.4261,W,1,03,00.5,072.3,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.60 5.08 16.40 3.80 3.85 0 -9311.07 05:50:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204640.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204639.71,3642.3503,N,-12155.4261,W,1,03,00.5,071.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204640.71,3642.3511,N,-12155.4262,W,1,03,00.5,071.5,M,-99.9,M,,*45 : TerrainNav update at nav time = 110.002465 : TerrainNav update at dvl time = 110.002465 : _navData-> (x,y) = (4062782.02, 596127.98) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 4.33 17.87 3.74 3.85 0 9234.67 05:50:20 m : AshtechGps::processRecord() - $GPGGA,204642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204641.71,3642.3520,N,-12155.4263,W,1,03,00.5,071.0,M,-99.9,M,,*42 : Estimated North Bias at time = 110.00 : -0.93 : Estimated East Bias at time = 110.00 : 4.21 : Estimated Depth Bias at time = 110.00 : -0.05 : Estimated northing and easting = 4062781.09 : 596132.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204642.71,3642.3528,N,-12155.4265,W,1,03,00.5,071.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204643.71,3642.3537,N,-12155.4266,W,1,03,00.5,071.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204644.71,3642.3545,N,-12155.4266,W,1,03,00.5,072.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204645.71,3642.3553,N,-12155.4265,W,1,03,00.5,072.1,M,-99.9,M,,*46 : TerrainNav update at nav time = 115.002122 : TerrainNav update at dvl time = 115.002122 : _navData-> (x,y) = (4062789.86, 596127.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204646.71,3642.3562,N,-12155.4264,W,1,03,00.5,071.7,M,-99.9,M,,*43 : Estimated North Bias at time = 115.00 : -0.93 : Estimated East Bias at time = 115.00 : 3.58 : Estimated Depth Bias at time = 115.00 : -0.05 : Estimated northing and easting = 4062788.92 : 596130.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204647.71,3642.3571,N,-12155.4265,W,1,03,00.5,071.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204648.71,3642.3580,N,-12155.4265,W,1,03,00.5,071.5,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.60 5.38 16.40 3.80 3.85 0 -9311.42 05:50:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204650.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204649.71,3642.3589,N,-12155.4266,W,1,03,00.5,071.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204650.71,3642.3597,N,-12155.4266,W,1,03,00.5,072.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4062797.91, 596127.20) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.83 17.87 3.74 3.85 0 9234.37 05:50:30 m : AshtechGps::processRecord() - $GPGGA,204652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204651.71,3642.3605,N,-12155.4265,W,1,03,00.5,071.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 120.00 : -1.13 : Estimated East Bias at time = 120.00 : 4.39 : Estimated Depth Bias at time = 120.00 : -0.05 : Estimated northing and easting = 4062796.78 : 596131.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204653.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204652.71,3642.3614,N,-12155.4265,W,1,03,00.5,071.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204653.71,3642.3622,N,-12155.4264,W,1,03,00.5,071.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204654.71,3642.3630,N,-12155.4264,W,1,03,00.5,071.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204655.71,3642.3639,N,-12155.4265,W,1,03,00.5,071.2,M,-99.9,M,,*48 : TerrainNav update at nav time = 125.001437 : TerrainNav update at dvl time = 125.001437 : _navData-> (x,y) = (4062805.61, 596127.25) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204656.71,3642.3647,N,-12155.4266,W,1,03,00.5,071.7,M,-99.9,M,,*44 : Estimated North Bias at time = 125.00 : -1.13 : Estimated East Bias at time = 125.00 : 4.41 : Estimated Depth Bias at time = 125.00 : -0.05 : Estimated northing and easting = 4062804.48 : 596131.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204657.71,3642.3655,N,-12155.4267,W,1,03,00.5,071.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204658.71,3642.3664,N,-12155.4268,W,1,03,00.5,071.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.60 5.23 16.40 3.80 3.85 0 -9311.93 05:50:37 m : AshtechGps::processRecord() - $GPGGA,204700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204659.71,3642.3673,N,-12155.4269,W,1,03,00.5,072.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204701.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204700.71,3642.3682,N,-12155.4269,W,1,03,00.5,070.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 130.001094 : TerrainNav update at dvl time = 130.001094 : _navData-> (x,y) = (4062813.55, 596126.61) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 4.52 17.87 3.74 3.86 0 9233.93 05:50:40 m : AshtechGps::processRecord() - $GPGGA,204702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204701.71,3642.3690,N,-12155.4268,W,1,03,00.5,072.3,M,-99.9,M,,*44 : Estimated North Bias at time = 130.00 : -1.41 : Estimated East Bias at time = 130.00 : 4.36 : Estimated Depth Bias at time = 130.00 : -0.05 : Estimated northing and easting = 4062812.14 : 596130.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204702.71,3642.3699,N,-12155.4267,W,1,03,00.5,072.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204703.71,3642.3707,N,-12155.4267,W,1,03,00.5,071.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204704.71,3642.3716,N,-12155.4267,W,1,03,00.5,071.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204705.71,3642.3724,N,-12155.4267,W,1,03,00.5,071.2,M,-99.9,M,,*43 : TerrainNav update at nav time = 135.000752 : TerrainNav update at dvl time = 135.000752 : _navData-> (x,y) = (4062821.42, 596126.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204706.71,3642.3732,N,-12155.4268,W,1,03,00.5,071.4,M,-99.9,M,,*4e : Estimated North Bias at time = 135.00 : -1.32 : Estimated East Bias at time = 135.00 : 4.47 : Estimated Depth Bias at time = 135.00 : -0.05 : Estimated northing and easting = 4062820.10 : 596131.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204708.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204707.71,3642.3741,N,-12155.4268,W,1,03,00.5,071.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204708.71,3642.3749,N,-12155.4268,W,1,03,00.5,071.7,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.60 5.16 16.40 3.80 3.85 0 -9312.32 05:50:47 m : AshtechGps::processRecord() - $GPGGA,204710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204709.71,3642.3758,N,-12155.4268,W,1,03,00.5,071.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204711.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204710.71,3642.3767,N,-12155.4268,W,1,03,00.5,071.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 140.000409 : TerrainNav update at dvl time = 140.000409 : _navData-> (x,y) = (4062829.27, 596126.50) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 4.03 17.87 3.74 3.86 0 9233.62 05:50:50 m : AshtechGps::processRecord() - $GPGGA,204712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204711.71,3642.3775,N,-12155.4268,W,1,03,00.5,072.4,M,-99.9,M,,*48 : Estimated North Bias at time = 140.00 : -1.48 : Estimated East Bias at time = 140.00 : 4.46 : Estimated Depth Bias at time = 140.00 : -0.05 : Estimated northing and easting = 4062827.79 : 596130.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204712.71,3642.3784,N,-12155.4268,W,1,03,00.5,071.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204713.71,3642.3793,N,-12155.4269,W,1,03,00.5,071.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204714.71,3642.3801,N,-12155.4269,W,1,03,00.5,071.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204715.71,3642.3809,N,-12155.4270,W,1,03,00.5,071.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 145.000067 : TerrainNav update at dvl time = 145.000067 : _navData-> (x,y) = (4062837.18, 596126.12) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204716.71,3642.3818,N,-12155.4271,W,1,03,00.5,071.5,M,-99.9,M,,*41 : Estimated North Bias at time = 145.00 : -1.31 : Estimated East Bias at time = 145.00 : 4.77 : Estimated Depth Bias at time = 145.00 : -0.05 : Estimated northing and easting = 4062835.86 : 596130.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204718.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204717.71,3642.3826,N,-12155.4271,W,1,03,00.5,071.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204718.71,3642.3835,N,-12155.4271,W,1,03,00.5,072.4,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.60 5.08 16.40 3.80 3.85 0 -9312.86 05:50:57 m : AshtechGps::processRecord() - $GPGGA,204720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204719.71,3642.3844,N,-12155.4270,W,1,03,00.5,071.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204720.71,3642.3853,N,-12155.4270,W,1,03,00.5,072.1,M,-99.9,M,,*4d : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4062845.14, 596126.05) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 4.10 17.87 3.74 3.85 0 9233.19 05:51:00 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204721.71,3642.3861,N,-12155.4270,W,1,03,00.5,071.4,M,-99.9,M,,*4b : Estimated North Bias at time = 150.00 : -1.55 : Estimated East Bias at time = 150.00 : 4.27 : Estimated Depth Bias at time = 150.00 : -0.05 : Estimated northing and easting = 4062843.59 : 596130.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204722.71,3642.3870,N,-12155.4270,W,1,03,00.5,072.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204723.70,3642.3878,N,-12155.4271,W,1,03,00.5,071.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204724.70,3642.3886,N,-12155.4272,W,1,03,00.5,071.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204725.70,3642.3895,N,-12155.4272,W,1,03,00.5,072.2,M,-99.9,M,,*42 : TerrainNav update at nav time = 154.999382 : TerrainNav update at dvl time = 154.999382 : _navData-> (x,y) = (4062852.91, 596125.59) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204726.70,3642.3903,N,-12155.4273,W,1,03,00.5,071.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 155.00 : -1.20 : Estimated East Bias at time = 155.00 : 4.73 : Estimated Depth Bias at time = 155.00 : -0.05 : Estimated northing and easting = 4062851.71 : 596130.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204727.70,3642.3912,N,-12155.4274,W,1,03,00.5,072.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204729.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204728.70,3642.3920,N,-12155.4273,W,1,03,00.5,072.3,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.60 5.41 16.40 3.80 3.85 0 -9313.21 05:51:07 m : AshtechGps::processRecord() - $GPGGA,204730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204729.70,3642.3929,N,-12155.4272,W,1,03,00.5,072.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204730.70,3642.3938,N,-12155.4271,W,1,03,00.5,072.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 159.999039 : TerrainNav update at dvl time = 159.999039 : _navData-> (x,y) = (4062860.97, 596125.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.71 4.44 17.87 3.74 3.85 0 9232.92 05:51:10 m : AshtechGps::processRecord() - $GPGGA,204732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204731.70,3642.3947,N,-12155.4270,W,1,03,00.5,071.8,M,-99.9,M,,*42 : Estimated North Bias at time = 160.00 : -1.65 : Estimated East Bias at time = 160.00 : 3.83 : Estimated Depth Bias at time = 160.00 : -0.05 : Estimated northing and easting = 4062859.32 : 596129.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204732.70,3642.3955,N,-12155.4270,W,1,03,00.5,071.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204733.70,3642.3963,N,-12155.4271,W,1,03,00.5,072.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204734.70,3642.3972,N,-12155.4272,W,1,03,00.5,071.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204735.70,3642.3981,N,-12155.4273,W,1,03,00.5,071.6,M,-99.9,M,,*41 : TerrainNav update at nav time = 164.998697 : TerrainNav update at dvl time = 164.998697 : _navData-> (x,y) = (4062868.87, 596125.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204736.70,3642.3990,N,-12155.4274,W,1,03,00.5,072.0,M,-99.9,M,,*40 : Estimated North Bias at time = 165.00 : -1.53 : Estimated East Bias at time = 165.00 : 5.03 : Estimated Depth Bias at time = 165.00 : -0.05 : Estimated northing and easting = 4062867.34 : 596130.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204737.70,3642.3999,N,-12155.4274,W,1,03,00.5,071.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204738.70,3642.4007,N,-12155.4274,W,1,03,00.5,072.0,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.60 4.93 16.40 3.80 3.85 0 -9313.76 05:51:17 m : AshtechGps::processRecord() - $GPGGA,204740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204739.70,3642.4015,N,-12155.4273,W,1,03,00.5,072.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204740.70,3642.4023,N,-12155.4273,W,1,03,00.5,072.2,M,-99.9,M,,*42 : TerrainNav update at nav time = 169.998354 : TerrainNav update at dvl time = 169.998354 : _navData-> (x,y) = (4062876.73, 596125.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.71 4.33 17.87 3.74 3.85 0 9232.45 05:51:20 m : AshtechGps::processRecord() - $GPGGA,204742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204741.70,3642.4032,N,-12155.4272,W,1,03,00.5,071.5,M,-99.9,M,,*46 : Estimated North Bias at time = 170.00 : -1.05 : Estimated East Bias at time = 170.00 : 4.35 : Estimated Depth Bias at time = 170.00 : -0.05 : Estimated northing and easting = 4062875.67 : 596129.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204742.70,3642.4040,N,-12155.4272,W,1,03,00.5,072.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204743.70,3642.4049,N,-12155.4273,W,1,03,00.5,071.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204744.70,3642.4058,N,-12155.4274,W,1,03,00.5,071.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204745.70,3642.4067,N,-12155.4274,W,1,03,00.5,071.9,M,-99.9,M,,*48 : TerrainNav update at nav time = 174.998012 : TerrainNav update at dvl time = 174.998012 : _navData-> (x,y) = (4062884.79, 596124.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204746.70,3642.4076,N,-12155.4274,W,1,03,00.5,072.0,M,-99.9,M,,*41 : Estimated North Bias at time = 175.00 : -1.49 : Estimated East Bias at time = 175.00 : 5.16 : Estimated Depth Bias at time = 175.00 : -0.05 : Estimated northing and easting = 4062883.29 : 596130.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204747.70,3642.4084,N,-12155.4273,W,1,03,00.5,071.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204748.70,3642.4093,N,-12155.4273,W,1,03,00.5,072.0,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.60 5.08 16.40 3.80 3.84 0 -9314.14 05:51:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204749.70,3642.4101,N,-12155.4273,W,1,03,00.5,071.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204750.70,3642.4110,N,-12155.4273,W,1,03,00.5,071.8,M,-99.9,M,,*4b : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4062892.71, 596125.00) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 4.03 17.87 3.74 3.85 0 9232.15 05:51:30 m : AshtechGps::processRecord() - $GPGGA,204752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204751.70,3642.4118,N,-12155.4274,W,1,03,00.5,072.1,M,-99.9,M,,*4f : Estimated North Bias at time = 180.00 : -1.28 : Estimated East Bias at time = 180.00 : 4.97 : Estimated Depth Bias at time = 180.00 : -0.05 : Estimated northing and easting = 4062891.43 : 596129.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204752.70,3642.4127,N,-12155.4274,W,1,03,00.5,072.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204753.70,3642.4135,N,-12155.4274,W,1,03,00.5,071.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204754.70,3642.4144,N,-12155.4275,W,1,03,00.5,071.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204755.70,3642.4153,N,-12155.4275,W,1,03,00.5,071.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 184.997327 : TerrainNav update at dvl time = 184.997327 : _navData-> (x,y) = (4062900.73, 596124.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204756.70,3642.4162,N,-12155.4275,W,1,03,00.5,072.6,M,-99.9,M,,*43 : Estimated North Bias at time = 185.00 : -1.54 : Estimated East Bias at time = 185.00 : 4.95 : Estimated Depth Bias at time = 185.00 : -0.05 : Estimated northing and easting = 4062899.18 : 596129.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204757.70,3642.4171,N,-12155.4275,W,1,03,00.5,072.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204758.70,3642.4179,N,-12155.4275,W,1,03,00.5,072.2,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.60 5.45 16.40 3.80 3.84 0 -9314.68 05:51:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204759.70,3642.4188,N,-12155.4274,W,1,03,00.5,072.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204800.70,3642.4196,N,-12155.4274,W,1,03,00.5,071.8,M,-99.9,M,,*48 : TerrainNav update at nav time = 189.996984 : TerrainNav update at dvl time = 189.996984 : _navData-> (x,y) = (4062908.65, 596124.79) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 3.91 17.87 3.74 3.85 0 9231.71 05:51:40 m : AshtechGps::processRecord() - $GPGGA,204802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204801.70,3642.4205,N,-12155.4274,W,1,03,00.5,071.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 190.00 : -1.29 : Estimated East Bias at time = 190.00 : 4.51 : Estimated Depth Bias at time = 190.00 : -0.05 : Estimated northing and easting = 4062907.36 : 596129.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204802.70,3642.4213,N,-12155.4274,W,1,03,00.5,071.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204803.70,3642.4222,N,-12155.4275,W,1,03,00.5,071.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204804.70,3642.4231,N,-12155.4277,W,1,03,00.5,070.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204805.70,3642.4239,N,-12155.4277,W,1,03,00.5,072.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 194.996642 : TerrainNav update at dvl time = 194.996642 : _navData-> (x,y) = (4062916.64, 596124.18) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204806.70,3642.4248,N,-12155.4277,W,1,03,00.5,070.8,M,-99.9,M,,*4c : Estimated North Bias at time = 195.00 : -1.34 : Estimated East Bias at time = 195.00 : 5.16 : Estimated Depth Bias at time = 195.00 : -0.05 : Estimated northing and easting = 4062915.30 : 596129.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204807.70,3642.4256,N,-12155.4276,W,1,03,00.5,072.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204808.70,3642.4265,N,-12155.4276,W,1,03,00.5,071.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.60 5.16 16.40 3.80 3.85 0 -9315.03 05:51:47 m : AshtechGps::processRecord() - $GPGGA,204810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204809.70,3642.4274,N,-12155.4275,W,1,03,00.5,071.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204810.70,3642.4282,N,-12155.4276,W,1,03,00.5,071.1,M,-99.9,M,,*44 : TerrainNav update at nav time = 199.996300 : TerrainNav update at dvl time = 199.996300 : _navData-> (x,y) = (4062924.62, 596124.31) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.71 4.60 17.87 3.74 3.85 0 9231.40 05:51:50 m : AshtechGps::processRecord() - $GPGGA,204812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204811.70,3642.4291,N,-12155.4276,W,1,03,00.5,071.7,M,-99.9,M,,*41 : Estimated North Bias at time = 200.00 : -1.43 : Estimated East Bias at time = 200.00 : 4.71 : Estimated Depth Bias at time = 200.00 : -0.05 : Estimated northing and easting = 4062923.19 : 596129.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204812.70,3642.4300,N,-12155.4277,W,1,03,00.5,072.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204813.70,3642.4308,N,-12155.4278,W,1,03,00.5,070.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,204815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204814.70,3642.4316,N,-12155.4278,W,1,03,00.5,072.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204815.70,3642.4324,N,-12155.4277,W,1,03,00.5,072.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 204.995957 : TerrainNav update at dvl time = 204.995957 : _navData-> (x,y) = (4062932.37, 596123.96) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204816.70,3642.4333,N,-12155.4277,W,1,03,00.5,072.4,M,-99.9,M,,*4e : Estimated North Bias at time = 205.00 : -1.17 : Estimated East Bias at time = 205.00 : 4.68 : Estimated Depth Bias at time = 205.00 : -0.05 : Estimated northing and easting = 4062931.21 : 596128.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204817.70,3642.4342,N,-12155.4277,W,1,03,00.5,071.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204818.70,3642.4351,N,-12155.4277,W,1,03,00.5,071.4,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.57 5.08 16.40 3.80 3.85 0 -9315.55 05:51:57 m : AshtechGps::processRecord() - $GPGGA,204820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204819.70,3642.4360,N,-12155.4278,W,1,03,00.5,071.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204820.70,3642.4369,N,-12155.4279,W,1,03,00.5,071.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 209.995615 : TerrainNav update at dvl time = 209.995615 : _navData-> (x,y) = (4062940.64, 596123.70) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 4.44 17.87 3.74 3.85 0 9230.99 05:52:00 m : AshtechGps::processRecord() - $GPGGA,204822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204821.70,3642.4378,N,-12155.4279,W,1,03,00.5,071.5,M,-99.9,M,,*49 : Estimated North Bias at time = 210.00 : -1.69 : Estimated East Bias at time = 210.00 : 5.09 : Estimated Depth Bias at time = 210.00 : -0.05 : Estimated northing and easting = 4062938.95 : 596128.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204822.70,3642.4386,N,-12155.4280,W,1,03,00.5,072.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204823.70,3642.4394,N,-12155.4279,W,1,03,00.5,071.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204824.70,3642.4402,N,-12155.4279,W,1,03,00.5,072.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,204826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204825.70,3642.4411,N,-12155.4279,W,1,03,00.5,071.6,M,-99.9,M,,*46 : TerrainNav update at nav time = 214.995272 : TerrainNav update at dvl time = 214.995272 : _navData-> (x,y) = (4062948.36, 596123.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204826.70,3642.4419,N,-12155.4279,W,1,03,00.5,072.5,M,-99.9,M,,*4d : Estimated North Bias at time = 215.00 : -1.51 : Estimated East Bias at time = 215.00 : 4.44 : Estimated Depth Bias at time = 215.00 : -0.05 : Estimated northing and easting = 4062946.85 : 596127.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204827.70,3642.4428,N,-12155.4279,W,1,03,00.5,071.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204828.70,3642.4436,N,-12155.4279,W,1,03,00.5,071.6,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.57 5.23 16.40 3.80 3.85 0 -9315.92 05:52:07 m : AshtechGps::processRecord() - $GPGGA,204830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204829.70,3642.4444,N,-12155.4279,W,1,03,00.5,072.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204830.70,3642.4453,N,-12155.4280,W,1,03,00.5,072.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 219.994929 : TerrainNav update at dvl time = 219.994929 : _navData-> (x,y) = (4062956.18, 596123.32) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 4.37 17.87 3.74 3.85 0 9230.70 05:52:10 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204831.70,3642.4462,N,-12155.4281,W,1,03,00.5,071.6,M,-99.9,M,,*40 : Estimated North Bias at time = 219.99 : -1.38 : Estimated East Bias at time = 219.99 : 4.44 : Estimated Depth Bias at time = 219.99 : -0.05 : Estimated northing and easting = 4062954.80 : 596127.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,204833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204832.70,3642.4472,N,-12155.4281,W,1,03,00.5,072.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204833.70,3642.4480,N,-12155.4281,W,1,03,00.5,071.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204834.70,3642.4489,N,-12155.4281,W,1,03,00.5,071.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,204836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204835.71,3642.4497,N,-12155.4281,W,1,03,00.5,071.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 224.994587 : TerrainNav update at dvl time = 224.994587 : _navData-> (x,y) = (4062964.27, 596123.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204836.71,3642.4505,N,-12155.4282,W,1,03,00.5,071.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 224.99 : -1.19 : Estimated East Bias at time = 224.99 : 4.09 : Estimated Depth Bias at time = 224.99 : -0.05 : Estimated northing and easting = 4062963.08 : 596127.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204837.71,3642.4513,N,-12155.4283,W,1,03,00.5,072.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204838.71,3642.4521,N,-12155.4284,W,1,03,00.5,071.6,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.60 4.89 16.40 3.80 3.85 0 -9316.44 05:52:17 m : AshtechGps::processRecord() - $GPGGA,204840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204839.71,3642.4530,N,-12155.4283,W,1,03,00.5,072.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204840.71,3642.4538,N,-12155.4283,W,1,03,00.5,072.3,M,-99.9,M,,*4d : TerrainNav update at nav time = 229.994244 : TerrainNav update at dvl time = 229.994244 : _navData-> (x,y) = (4062971.93, 596122.73) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.71 4.14 17.87 3.73 3.85 0 9230.29 05:52:20 m : AshtechGps::processRecord() - $GPGGA,204842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204841.71,3642.4547,N,-12155.4282,W,1,03,00.5,072.0,M,-99.9,M,,*46 : Estimated North Bias at time = 229.99 : -1.54 : Estimated East Bias at time = 229.99 : 4.08 : Estimated Depth Bias at time = 229.99 : -0.05 : Estimated northing and easting = 4062970.38 : 596126.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,204843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204842.71,3642.4556,N,-12155.4281,W,1,03,00.5,071.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204843.71,3642.4565,N,-12155.4281,W,1,03,00.5,071.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204844.71,3642.4573,N,-12155.4282,W,1,03,00.5,071.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204845.71,3642.4581,N,-12155.4283,W,1,03,00.5,072.0,M,-99.9,M,,*49 : TerrainNav update at nav time = 234.993902 : TerrainNav update at dvl time = 234.993902 : _navData-> (x,y) = (4062979.84, 596122.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204846.71,3642.4589,N,-12155.4283,W,1,03,00.5,072.3,M,-99.9,M,,*41 : Estimated North Bias at time = 234.99 : -1.30 : Estimated East Bias at time = 234.99 : 4.95 : Estimated Depth Bias at time = 234.99 : -0.05 : Estimated northing and easting = 4062978.54 : 596127.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204847.71,3642.4598,N,-12155.4283,W,1,03,00.5,071.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204848.71,3642.4606,N,-12155.4283,W,1,03,00.5,071.6,M,-99.9,M,,*4d : BluefinBatt Reply: $aaq0 d- 30.57 5.04 16.40 3.80 3.84 0 -9316.79 05:52:27 m : AshtechGps::processRecord() - $GPGGA,204850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204849.71,3642.4615,N,-12155.4283,W,1,03,00.5,071.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204850.71,3642.4624,N,-12155.4283,W,1,03,00.5,071.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4062987.69, 596122.51) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.86 17.87 3.73 3.85 0 9229.96 05:52:30 m : AshtechGps::processRecord() - $GPGGA,204852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204851.71,3642.4632,N,-12155.4284,W,1,03,00.5,071.6,M,-99.9,M,,*45 : Estimated North Bias at time = 239.99 : -1.60 : Estimated East Bias at time = 239.99 : 4.42 : Estimated Depth Bias at time = 239.99 : -0.05 : Estimated northing and easting = 4062986.09 : 596126.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204852.71,3642.4641,N,-12155.4284,W,1,03,00.5,072.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204853.71,3642.4649,N,-12155.4285,W,1,03,00.5,071.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,204855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204854.71,3642.4657,N,-12155.4285,W,1,03,00.5,072.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204855.71,3642.4665,N,-12155.4285,W,1,03,00.5,072.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 244.993217 : TerrainNav update at dvl time = 244.993217 : _navData-> (x,y) = (4062995.33, 596122.13) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204856.71,3642.4673,N,-12155.4284,W,1,03,00.5,072.2,M,-99.9,M,,*40 : Estimated North Bias at time = 244.99 : -1.13 : Estimated East Bias at time = 244.99 : 4.44 : Estimated Depth Bias at time = 244.99 : -0.05 : Estimated northing and easting = 4062994.20 : 596126.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204857.71,3642.4682,N,-12155.4284,W,1,03,00.5,072.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204858.71,3642.4691,N,-12155.4283,W,1,03,00.5,072.5,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.60 4.86 16.40 3.80 3.84 0 -9317.32 05:52:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204859.71,3642.4700,N,-12155.4283,W,1,03,00.5,072.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204900.71,3642.4709,N,-12155.4283,W,1,03,00.5,071.5,M,-99.9,M,,*4d : TerrainNav update at nav time = 250.002874 : TerrainNav update at dvl time = 250.002874 : _navData-> (x,y) = (4063003.47, 596122.27) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.71 4.64 17.87 3.73 3.85 0 9229.49 05:52:40 m : AshtechGps::processRecord() - $GPGGA,204902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204901.71,3642.4717,N,-12155.4283,W,1,03,00.5,071.9,M,-99.9,M,,*4f : Estimated North Bias at time = 250.00 : -1.59 : Estimated East Bias at time = 250.00 : 4.49 : Estimated Depth Bias at time = 250.00 : -0.05 : Estimated northing and easting = 4063001.88 : 596126.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,204903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204902.71,3642.4725,N,-12155.4284,W,1,03,00.5,071.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204903.71,3642.4734,N,-12155.4284,W,1,03,00.5,071.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,204905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204904.71,3642.4742,N,-12155.4285,W,1,03,00.5,071.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204905.71,3642.4750,N,-12155.4286,W,1,03,00.5,071.9,M,-99.9,M,,*4d : TerrainNav update at nav time = 255.002531 : TerrainNav update at dvl time = 255.002531 : _navData-> (x,y) = (4063011.11, 596121.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204906.71,3642.4759,N,-12155.4286,W,1,03,00.5,071.9,M,-99.9,M,,*47 : Estimated North Bias at time = 255.00 : -1.41 : Estimated East Bias at time = 255.00 : 4.88 : Estimated Depth Bias at time = 255.00 : -0.05 : Estimated northing and easting = 4063009.71 : 596126.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204907.71,3642.4768,N,-12155.4286,W,1,03,00.5,072.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,204909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204908.71,3642.4776,N,-12155.4285,W,1,03,00.5,072.2,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.57 5.23 16.40 3.80 3.84 0 -9317.69 05:52:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204909.71,3642.4785,N,-12155.4284,W,1,03,00.5,072.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,204911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204910.71,3642.4794,N,-12155.4283,W,1,03,00.5,071.5,M,-99.9,M,,*48 : TerrainNav update at nav time = 260.002189 : TerrainNav update at dvl time = 260.002189 : _navData-> (x,y) = (4063019.15, 596122.16) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.71 4.37 17.87 3.73 3.85 0 9229.18 05:52:50 m : AshtechGps::processRecord() - $GPGGA,204912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204911.71,3642.4802,N,-12155.4283,W,1,03,00.5,071.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 260.00 : -1.52 : Estimated East Bias at time = 260.00 : 3.96 : Estimated Depth Bias at time = 260.00 : -0.05 : Estimated northing and easting = 4063017.64 : 596126.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,204913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204912.71,3642.4811,N,-12155.4283,W,1,03,00.5,071.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204914.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204913.71,3642.4819,N,-12155.4284,W,1,03,00.5,071.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204914.71,3642.4827,N,-12155.4285,W,1,03,00.5,071.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,204916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204915.71,3642.4835,N,-12155.4286,W,1,03,00.5,071.5,M,-99.9,M,,*4c : TerrainNav update at nav time = 265.001846 : TerrainNav update at dvl time = 265.001846 : _navData-> (x,y) = (4063026.84, 596121.66) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204916.71,3642.4844,N,-12155.4286,W,1,03,00.5,072.7,M,-99.9,M,,*48 : Estimated North Bias at time = 265.00 : -1.17 : Estimated East Bias at time = 265.00 : 4.91 : Estimated Depth Bias at time = 265.00 : -0.05 : Estimated northing and easting = 4063025.67 : 596126.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204917.71,3642.4853,N,-12155.4285,W,1,03,00.5,071.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,204919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204918.71,3642.4862,N,-12155.4285,W,1,03,00.5,072.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.57 4.86 16.40 3.80 3.84 0 -9318.21 05:52:57 m : AshtechGps::processRecord() - $GPGGA,204920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204919.71,3642.4871,N,-12155.4285,W,1,03,00.5,071.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204921.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204920.71,3642.4879,N,-12155.4286,W,1,03,00.5,072.0,M,-99.9,M,,*44 : TerrainNav update at nav time = 270.001504 : TerrainNav update at dvl time = 270.001504 : _navData-> (x,y) = (4063034.97, 596121.53) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.07 17.87 3.73 3.85 0 9228.74 05:53:00 m : AshtechGps::processRecord() - $GPGGA,204922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204921.71,3642.4888,N,-12155.4286,W,1,03,00.5,072.0,M,-99.9,M,,*4b : Estimated North Bias at time = 270.00 : -1.73 : Estimated East Bias at time = 270.00 : 4.78 : Estimated Depth Bias at time = 270.00 : -0.05 : Estimated northing and easting = 4063033.24 : 596126.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,204923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204922.71,3642.4896,N,-12155.4287,W,1,03,00.5,072.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204923.71,3642.4904,N,-12155.4286,W,1,03,00.5,071.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204924.71,3642.4913,N,-12155.4286,W,1,03,00.5,071.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,204926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204925.71,3642.4921,N,-12155.4285,W,1,03,00.5,072.2,M,-99.9,M,,*4c : TerrainNav update at nav time = 275.001161 : TerrainNav update at dvl time = 275.001161 : _navData-> (x,y) = (4063042.68, 596121.56) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204926.71,3642.4930,N,-12155.4285,W,1,03,00.5,071.8,M,-99.9,M,,*46 : Estimated North Bias at time = 275.00 : -1.53 : Estimated East Bias at time = 275.00 : 4.24 : Estimated Depth Bias at time = 275.00 : -0.05 : Estimated northing and easting = 4063041.16 : 596125.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204927.71,3642.4939,N,-12155.4285,W,1,03,00.5,072.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204928.71,3642.4948,N,-12155.4286,W,1,03,00.5,072.0,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.57 5.23 16.40 3.80 3.84 0 -9318.57 05:53:07 m : AshtechGps::processRecord() - $GPGGA,204930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204929.71,3642.4956,N,-12155.4287,W,1,03,00.5,072.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204930.71,3642.4965,N,-12155.4288,W,1,03,00.5,072.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 280.000819 : TerrainNav update at dvl time = 280.000819 : _navData-> (x,y) = (4063050.72, 596121.03) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.71 4.33 17.87 3.73 3.85 0 9228.44 05:53:10 m : AshtechGps::processRecord() - $GPGGA,204932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204931.71,3642.4973,N,-12155.4289,W,1,03,00.5,072.2,M,-99.9,M,,*42 : Estimated North Bias at time = 280.00 : -1.66 : Estimated East Bias at time = 280.00 : 5.04 : Estimated Depth Bias at time = 280.00 : -0.05 : Estimated northing and easting = 4063049.06 : 596126.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,204933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204932.71,3642.4981,N,-12155.4288,W,1,03,00.5,071.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204933.71,3642.4989,N,-12155.4287,W,1,03,00.5,072.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204934.71,3642.4998,N,-12155.4285,W,1,03,00.5,072.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,204936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204935.71,3642.5007,N,-12155.4284,W,1,03,00.5,072.9,M,-99.9,M,,*4b : TerrainNav update at nav time = 285.000476 : TerrainNav update at dvl time = 285.000476 : _navData-> (x,y) = (4063058.50, 596121.62) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204936.71,3642.5016,N,-12155.4283,W,1,03,00.5,072.7,M,-99.9,M,,*41 : Estimated North Bias at time = 285.00 : -1.94 : Estimated East Bias at time = 285.00 : 3.81 : Estimated Depth Bias at time = 285.00 : -0.05 : Estimated northing and easting = 4063056.57 : 596125.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204937.71,3642.5024,N,-12155.4284,W,1,03,00.5,072.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,204939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204938.71,3642.5033,N,-12155.4286,W,1,03,00.5,071.7,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.60 5.04 16.40 3.80 3.84 0 -9319.12 05:53:17 m : AshtechGps::processRecord() - $GPGGA,204940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204939.71,3642.5042,N,-12155.4289,W,1,03,00.5,072.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204940.71,3642.5050,N,-12155.4290,W,1,03,00.5,070.9,M,-99.9,M,,*4c : TerrainNav update at nav time = 290.000134 : TerrainNav update at dvl time = 290.000134 : _navData-> (x,y) = (4063066.51, 596120.58) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.71 4.18 17.87 3.73 3.85 0 9227.99 05:53:20 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204941.71,3642.5058,N,-12155.4290,W,1,03,00.5,072.2,M,-99.9,M,,*4c : Estimated North Bias at time = 290.00 : -1.72 : Estimated East Bias at time = 290.00 : 5.54 : Estimated Depth Bias at time = 290.00 : -0.05 : Estimated northing and easting = 4063064.79 : 596126.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,204943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204942.71,3642.5066,N,-12155.4289,W,1,03,00.5,073.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,204944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204943.71,3642.5075,N,-12155.4288,W,1,03,00.5,072.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204944.71,3642.5083,N,-12155.4287,W,1,03,00.5,072.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204945.71,3642.5092,N,-12155.4286,W,1,03,00.5,072.4,M,-99.9,M,,*4f : TerrainNav update at nav time = 294.999791 : TerrainNav update at dvl time = 294.999791 : _navData-> (x,y) = (4063074.24, 596121.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204946.71,3642.5101,N,-12155.4285,W,1,03,00.5,072.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 295.00 : -1.77 : Estimated East Bias at time = 295.00 : 4.22 : Estimated Depth Bias at time = 295.00 : -0.05 : Estimated northing and easting = 4063072.47 : 596125.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204947.71,3642.5109,N,-12155.4285,W,1,03,00.5,072.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204949.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204948.71,3642.5118,N,-12155.4286,W,1,03,00.5,071.8,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.57 5.26 16.40 3.80 3.84 0 -9319.48 05:53:27 m : AshtechGps::processRecord() - $GPGGA,204950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204949.70,3642.5127,N,-12155.4287,W,1,03,00.5,071.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,204951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204950.70,3642.5135,N,-12155.4290,W,1,03,00.5,071.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4063082.22, 596120.46) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.71 4.41 17.87 3.73 3.85 0 9227.70 05:53:30 m : AshtechGps::processRecord() - $GPGGA,204952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204951.70,3642.5143,N,-12155.4292,W,1,03,00.5,072.0,M,-99.9,M,,*47 : Estimated North Bias at time = 300.00 : -1.74 : Estimated East Bias at time = 300.00 : 5.41 : Estimated Depth Bias at time = 300.00 : -0.05 : Estimated northing and easting = 4063080.48 : 596125.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,204953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204952.70,3642.5152,N,-12155.4293,W,1,03,00.5,072.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,204954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204953.70,3642.5160,N,-12155.4292,W,1,03,00.5,072.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204954.70,3642.5169,N,-12155.4291,W,1,03,00.5,071.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204955.70,3642.5177,N,-12155.4289,W,1,03,00.5,072.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 304.999106 : TerrainNav update at dvl time = 304.999106 : _navData-> (x,y) = (4063090.05, 596120.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,204957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204956.70,3642.5186,N,-12155.4287,W,1,03,00.5,072.8,M,-99.9,M,,*45 : Estimated North Bias at time = 305.00 : -1.81 : Estimated East Bias at time = 305.00 : 3.63 : Estimated Depth Bias at time = 305.00 : -0.05 : Estimated northing and easting = 4063088.24 : 596124.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,204958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204957.70,3642.5194,N,-12155.4287,W,1,03,00.5,072.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,204959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,204958.70,3642.5203,N,-12155.4287,W,1,03,00.5,072.4,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.57 5.38 16.40 3.80 3.84 0 -9320.03 05:53:37 m : AshtechGps::processRecord() - $GPGGA,205000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,204959.70,3642.5211,N,-12155.4288,W,1,03,00.5,072.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205000.70,3642.5220,N,-12155.4289,W,1,03,00.5,072.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 309.998764 : TerrainNav update at dvl time = 309.998764 : _navData-> (x,y) = (4063097.94, 596120.37) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.48 17.87 3.73 3.85 0 9227.27 05:53:40 m : AshtechGps::processRecord() - $GPGGA,205002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205001.70,3642.5229,N,-12155.4290,W,1,03,00.5,071.7,M,-99.9,M,,*43 : Estimated North Bias at time = 310.00 : -1.85 : Estimated East Bias at time = 310.00 : 5.18 : Estimated Depth Bias at time = 310.00 : -0.05 : Estimated northing and easting = 4063096.08 : 596125.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205002.70,3642.5237,N,-12155.4292,W,1,03,00.5,072.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205003.70,3642.5246,N,-12155.4293,W,1,03,00.5,071.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205004.70,3642.5254,N,-12155.4294,W,1,03,00.5,071.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205005.70,3642.5262,N,-12155.4294,W,1,03,00.5,072.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 314.998421 : TerrainNav update at dvl time = 314.998421 : _navData-> (x,y) = (4063105.70, 596119.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205006.70,3642.5270,N,-12155.4293,W,1,03,00.5,072.3,M,-99.9,M,,*4c : Estimated North Bias at time = 315.00 : -1.59 : Estimated East Bias at time = 315.00 : 4.87 : Estimated Depth Bias at time = 315.00 : -0.05 : Estimated northing and easting = 4063104.12 : 596124.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205007.70,3642.5279,N,-12155.4292,W,1,03,00.5,072.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205008.70,3642.5288,N,-12155.4290,W,1,03,00.5,072.3,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.57 6.08 16.40 3.80 3.85 0 -9320.38 05:53:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205009.70,3642.5297,N,-12155.4289,W,1,03,00.5,072.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205010.70,3642.5305,N,-12155.4288,W,1,03,00.5,072.3,M,-99.9,M,,*42 : TerrainNav update at nav time = 319.998079 : TerrainNav update at dvl time = 319.998079 : _navData-> (x,y) = (4063113.72, 596120.40) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.52 17.87 3.73 3.85 0 9226.98 05:53:50 m : AshtechGps::processRecord() - $GPGGA,205012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205011.70,3642.5314,N,-12155.4288,W,1,03,00.5,072.3,M,-99.9,M,,*43 : Estimated North Bias at time = 320.00 : -1.96 : Estimated East Bias at time = 320.00 : 4.34 : Estimated Depth Bias at time = 320.00 : -0.05 : Estimated northing and easting = 4063111.76 : 596124.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205012.70,3642.5322,N,-12155.4289,W,1,03,00.5,071.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205013.70,3642.5331,N,-12155.4291,W,1,03,00.5,071.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205014.70,3642.5340,N,-12155.4293,W,1,03,00.5,072.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205015.70,3642.5348,N,-12155.4294,W,1,03,00.5,070.8,M,-99.9,M,,*4a : TerrainNav update at nav time = 324.997736 : TerrainNav update at dvl time = 324.997736 : _navData-> (x,y) = (4063121.63, 596119.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205016.70,3642.5357,N,-12155.4294,W,1,03,00.5,072.9,M,-99.9,M,,*44 : Estimated North Bias at time = 325.00 : -1.98 : Estimated East Bias at time = 325.00 : 5.86 : Estimated Depth Bias at time = 325.00 : -0.05 : Estimated northing and easting = 4063119.65 : 596125.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205017.70,3642.5365,N,-12155.4293,W,1,03,00.5,071.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205018.70,3642.5374,N,-12155.4292,W,1,03,00.5,072.5,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.57 5.19 16.40 3.80 3.85 0 -9320.91 05:53:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205019.70,3642.5383,N,-12155.4291,W,1,03,00.5,072.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205020.70,3642.5391,N,-12155.4290,W,1,03,00.5,072.3,M,-99.9,M,,*45 : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4063129.63, 596119.83) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.25 17.87 3.73 3.85 0 9226.51 05:54:00 m : AshtechGps::processRecord() - $GPGGA,205022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205021.70,3642.5400,N,-12155.4290,W,1,03,00.5,072.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 330.00 : -2.04 : Estimated East Bias at time = 330.00 : 5.34 : Estimated Depth Bias at time = 330.00 : -0.05 : Estimated northing and easting = 4063127.59 : 596125.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205022.70,3642.5409,N,-12155.4290,W,1,03,00.5,071.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205023.70,3642.5417,N,-12155.4291,W,1,03,00.5,072.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205024.70,3642.5426,N,-12155.4291,W,1,03,00.5,072.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205025.70,3642.5435,N,-12155.4292,W,1,03,00.5,072.4,M,-99.9,M,,*4c : TerrainNav update at nav time = 334.997051 : TerrainNav update at dvl time = 334.997051 : _navData-> (x,y) = (4063137.61, 596119.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205026.70,3642.5443,N,-12155.4292,W,1,03,00.5,071.5,M,-99.9,M,,*4c : Estimated North Bias at time = 335.00 : -1.95 : Estimated East Bias at time = 335.00 : 5.64 : Estimated Depth Bias at time = 335.00 : -0.05 : Estimated northing and easting = 4063135.66 : 596125.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205027.70,3642.5452,N,-12155.4292,W,1,03,00.5,072.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205028.70,3642.5460,N,-12155.4292,W,1,03,00.5,072.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.57 5.41 16.40 3.80 3.84 0 -9321.26 05:54:07 m : AshtechGps::processRecord() - $GPGGA,205030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205029.70,3642.5469,N,-12155.4293,W,1,03,00.5,072.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205030.70,3642.5478,N,-12155.4293,W,1,03,00.5,071.7,M,-99.9,M,,*40 : TerrainNav update at nav time = 339.996709 : TerrainNav update at dvl time = 339.996709 : _navData-> (x,y) = (4063145.62, 596119.22) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.25 17.87 3.73 3.85 0 9226.22 05:54:10 m : AshtechGps::processRecord() - $GPGGA,205032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205031.70,3642.5487,N,-12155.4293,W,1,03,00.5,072.1,M,-99.9,M,,*44 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 384.993626) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 384.993626) Behavior ascend:-1 has changed to state Active : Estimated North Bias at time = 340.00 : -2.13 : Estimated East Bias at time = 340.00 : 5.45 : Estimated Depth Bias at time = 340.00 : -0.05 : Estimated northing and easting = 4063143.49 : 596124.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205032.70,3642.5495,N,-12155.4293,W,1,03,00.5,072.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205033.70,3642.5503,N,-12155.4293,W,1,03,00.5,072.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205034.70,3642.5512,N,-12155.4294,W,1,03,00.5,072.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205035.70,3642.5520,N,-12155.4294,W,1,03,00.5,071.6,M,-99.9,M,,*4f : TerrainNav update at nav time = 344.996366 : TerrainNav update at dvl time = 344.996366 : _navData-> (x,y) = (4063153.43, 596119.05) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205036.70,3642.5529,N,-12155.4294,W,1,03,00.5,072.4,M,-99.9,M,,*44 : Estimated North Bias at time = 345.00 : -1.92 : Estimated East Bias at time = 345.00 : 5.34 : Estimated Depth Bias at time = 345.00 : -0.05 : Estimated northing and easting = 4063151.51 : 596124.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205037.70,3642.5538,N,-12155.4293,W,1,03,00.5,071.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205038.70,3642.5547,N,-12155.4293,W,1,03,00.5,072.2,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.60 4.71 16.40 3.80 3.84 0 -9321.81 05:54:17 m : AshtechGps::processRecord() - $GPGGA,205040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205039.70,3642.5555,N,-12155.4293,W,1,03,00.5,072.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205040.70,3642.5564,N,-12155.4293,W,1,03,00.5,072.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 349.996024 : TerrainNav update at dvl time = 349.996024 : _navData-> (x,y) = (4063161.50, 596119.09) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.71 17.87 3.74 3.85 0 9225.74 05:54:20 m : AshtechGps::processRecord() - $GPGGA,205042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205041.70,3642.5572,N,-12155.4294,W,1,03,00.5,072.7,M,-99.9,M,,*49 : Estimated North Bias at time = 350.00 : -1.89 : Estimated East Bias at time = 350.00 : 5.13 : Estimated Depth Bias at time = 350.00 : -0.05 : Estimated northing and easting = 4063159.60 : 596124.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,205043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205042.70,3642.5581,N,-12155.4294,W,1,03,00.5,072.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205043.70,3642.5589,N,-12155.4295,W,1,03,00.5,072.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205044.70,3642.5598,N,-12155.4295,W,1,03,00.5,072.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205045.70,3642.5607,N,-12155.4296,W,1,03,00.5,073.4,M,-99.9,M,,*4c : TerrainNav update at nav time = 354.995681 : TerrainNav update at dvl time = 354.995681 : _navData-> (x,y) = (4063169.48, 596118.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205046.70,3642.5616,N,-12155.4296,W,1,03,00.5,073.3,M,-99.9,M,,*48 : Estimated North Bias at time = 355.00 : -2.06 : Estimated East Bias at time = 355.00 : 5.17 : Estimated Depth Bias at time = 355.00 : -0.05 : Estimated northing and easting = 4063167.42 : 596123.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205047.70,3642.5625,N,-12155.4296,W,1,03,00.5,074.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205048.70,3642.5633,N,-12155.4296,W,1,03,00.5,073.7,M,-99.9,M,,*45 : BluefinBatt Reply: $aaq0 d- 30.57 5.19 16.40 3.80 3.85 0 -9322.16 05:54:27 m : AshtechGps::processRecord() - $GPGGA,205050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205049.70,3642.5642,N,-12155.4295,W,1,03,00.5,074.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205050.70,3642.5651,N,-12155.4295,W,1,03,00.5,075.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 359.995339 : TerrainNav update at dvl time = 359.995339 : _navData-> (x,y) = (4063177.60, 596118.65) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.71 4.64 17.87 3.74 3.85 0 9225.44 05:54:30 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205051.70,3642.5660,N,-12155.4294,W,1,03,00.5,074.9,M,-99.9,M,,*40 : Estimated North Bias at time = 360.00 : -2.04 : Estimated East Bias at time = 360.00 : 4.60 : Estimated Depth Bias at time = 360.00 : -0.05 : Estimated northing and easting = 4063175.56 : 596123.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,205053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205052.70,3642.5669,N,-12155.4293,W,1,03,00.5,074.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205053.70,3642.5678,N,-12155.4293,W,1,03,00.5,074.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205054.70,3642.5687,N,-12155.4294,W,1,03,00.5,074.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205055.70,3642.5696,N,-12155.4295,W,1,03,00.5,074.3,M,-99.9,M,,*46 : TerrainNav update at nav time = 364.994996 : TerrainNav update at dvl time = 364.994996 : _navData-> (x,y) = (4063185.92, 596118.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205056.70,3642.5705,N,-12155.4295,W,1,03,00.5,074.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 364.99 : -2.08 : Estimated East Bias at time = 364.99 : 5.24 : Estimated Depth Bias at time = 364.99 : -0.05 : Estimated northing and easting = 4063183.84 : 596123.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205057.70,3642.5713,N,-12155.4295,W,1,03,00.5,076.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205058.70,3642.5722,N,-12155.4294,W,1,03,00.5,075.8,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.60 4.93 16.40 3.80 3.85 0 -9322.69 05:54:37 m : AshtechGps::processRecord() - $GPGGA,205100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205059.70,3642.5731,N,-12155.4293,W,1,03,00.5,076.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205100.70,3642.5740,N,-12155.4292,W,1,03,00.5,075.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 369.994654 : TerrainNav update at dvl time = 369.994654 : _navData-> (x,y) = (4063194.05, 596118.88) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.64 17.87 3.73 3.85 0 9225.02 05:54:40 m : AshtechGps::processRecord() - $GPGGA,205102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205101.71,3642.5749,N,-12155.4292,W,1,03,00.5,075.9,M,-99.9,M,,*48 : Estimated North Bias at time = 369.99 : -2.16 : Estimated East Bias at time = 369.99 : 4.16 : Estimated Depth Bias at time = 369.99 : -0.05 : Estimated northing and easting = 4063191.89 : 596123.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205102.71,3642.5759,N,-12155.4292,W,1,03,00.5,076.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205103.71,3642.5768,N,-12155.4293,W,1,03,00.5,076.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205104.71,3642.5777,N,-12155.4294,W,1,03,00.5,076.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205105.71,3642.5785,N,-12155.4294,W,1,03,00.5,076.5,M,-99.9,M,,*45 : TerrainNav update at nav time = 374.994311 : TerrainNav update at dvl time = 374.994311 : _navData-> (x,y) = (4063202.33, 596118.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205106.71,3642.5793,N,-12155.4293,W,1,03,00.5,076.9,M,-99.9,M,,*4a : Estimated North Bias at time = 374.99 : -1.87 : Estimated East Bias at time = 374.99 : 5.10 : Estimated Depth Bias at time = 374.99 : -0.05 : Estimated northing and easting = 4063200.46 : 596123.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205107.71,3642.5801,N,-12155.4292,W,1,03,00.5,077.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205109.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205108.71,3642.5811,N,-12155.4291,W,1,03,00.5,077.9,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.57 5.01 16.40 3.80 3.85 0 -9323.04 05:54:47 m : AshtechGps::processRecord() - $GPGGA,205110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205109.71,3642.5820,N,-12155.4289,W,1,03,00.5,077.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205110.71,3642.5830,N,-12155.4289,W,1,03,00.5,077.4,M,-99.9,M,,*4c : TerrainNav update at nav time = 379.993969 : TerrainNav update at dvl time = 379.993969 : _navData-> (x,y) = (4063210.65, 596119.09) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.64 17.87 3.73 3.85 0 9224.71 05:54:50 m : AshtechGps::processRecord() - $GPGGA,205112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205111.71,3642.5839,N,-12155.4290,W,1,03,00.5,077.6,M,-99.9,M,,*4e : Estimated North Bias at time = 379.99 : -2.81 : Estimated East Bias at time = 379.99 : 4.91 : Estimated Depth Bias at time = 379.99 : -0.05 : Estimated northing and easting = 4063207.84 : 596124.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205112.71,3642.5849,N,-12155.4290,W,1,03,00.5,077.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205113.71,3642.5858,N,-12155.4292,W,1,03,00.5,078.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205114.71,3642.5867,N,-12155.4292,W,1,03,00.5,078.4,M,-99.9,M,,*4f : LayeredControl::execute() -- (t = 428.200666) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 428.200666) Behavior getgps:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205115.71,3642.5875,N,-12155.4292,W,1,03,00.5,078.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 384.993626 : TerrainNav update at dvl time = 384.993626 : _navData-> (x,y) = (4063219.06, 596118.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205116.71,3642.5883,N,-12155.4292,W,1,03,00.5,079.7,M,-99.9,M,,*45 : Estimated North Bias at time = 384.99 : -2.37 : Estimated East Bias at time = 384.99 : 4.96 : Estimated Depth Bias at time = 384.99 : -0.05 : Estimated northing and easting = 4063216.69 : 596123.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205117.71,3642.5892,N,-12155.4290,W,1,03,00.5,079.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205118.71,3642.5899,N,-12155.4287,W,1,03,00.5,080.1,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.76 1.51 16.40 3.80 3.85 0 -9323.54 05:54:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205119.71,3642.5907,N,-12155.4286,W,1,03,00.5,080.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205120.71,3642.5914,N,-12155.4290,W,1,03,00.5,079.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4063226.28, 596118.76) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.86 1.02 17.87 3.76 3.87 0 9224.39 05:55:00 m : AshtechGps::processRecord() - $GPGGA,205122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205121.71,3642.5921,N,-12155.4294,W,1,03,00.5,078.9,M,-99.9,M,,*41 : Estimated North Bias at time = 389.99 : -1.89 : Estimated East Bias at time = 389.99 : 5.12 : Estimated Depth Bias at time = 389.99 : -0.05 : Estimated northing and easting = 4063224.39 : 596123.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : batts online 2, min cell voltage 3.760000, mean min cell voltage 3.780000 : AshtechGps::processRecord() - $GPGGA,205123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205122.71,3642.5928,N,-12155.4299,W,1,03,00.5,079.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205123.71,3642.5934,N,-12155.4303,W,1,03,00.5,078.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205124.71,3642.5938,N,-12155.4306,W,1,03,00.5,080.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205125.71,3642.5941,N,-12155.4308,W,1,03,00.5,080.6,M,-99.9,M,,*4f : TerrainNav update at nav time = 395.002941 : TerrainNav update at dvl time = 395.002941 : _navData-> (x,y) = (4063231.29, 596116.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205126.71,3642.5944,N,-12155.4309,W,1,03,00.5,079.3,M,-99.9,M,,*4b : Estimated North Bias at time = 395.00 : -0.14 : Estimated East Bias at time = 395.00 : 4.42 : Estimated Depth Bias at time = 395.00 : -0.05 : Estimated northing and easting = 4063231.15 : 596120.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205127.71,3642.5946,N,-12155.4309,W,1,03,00.5,080.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205128.71,3642.5948,N,-12155.4312,W,1,03,00.5,079.4,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.72 1.96 16.40 3.82 3.86 0 -9323.66 05:55:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205129.71,3642.5951,N,-12155.4315,W,1,03,00.5,080.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205130.71,3642.5953,N,-12155.4317,W,1,03,00.5,080.2,M,-99.9,M,,*42 : TerrainNav update at nav time = 400.002598 : TerrainNav update at dvl time = 400.002598 : _navData-> (x,y) = (4063233.34, 596114.69) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.90 0.79 17.87 3.76 3.87 0 9224.33 05:55:10 m : AshtechGps::processRecord() - $GPGGA,205132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205131.71,3642.5955,N,-12155.4319,W,1,03,00.5,079.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 400.00 : 0.64 : Estimated East Bias at time = 400.00 : 4.35 : Estimated Depth Bias at time = 400.00 : -0.05 : Estimated northing and easting = 4063233.99 : 596119.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.760000, mean min cell voltage 3.790000 : AshtechGps::processRecord() - $GPGGA,205133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205132.71,3642.5956,N,-12155.4322,W,1,03,00.5,080.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205133.71,3642.5957,N,-12155.4327,W,1,03,00.5,079.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205134.71,3642.5956,N,-12155.4331,W,1,03,00.5,078.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205135.71,3642.5957,N,-12155.4334,W,1,03,00.5,080.5,M,-99.9,M,,*45 : TerrainNav update at nav time = 405.002255 : TerrainNav update at dvl time = 405.002255 : _navData-> (x,y) = (4063234.05, 596112.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205136.71,3642.5957,N,-12155.4337,W,1,03,00.5,080.0,M,-99.9,M,,*40 : Estimated North Bias at time = 405.00 : 1.90 : Estimated East Bias at time = 405.00 : 5.05 : Estimated Depth Bias at time = 405.00 : -0.05 : Estimated northing and easting = 4063235.95 : 596117.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205137.71,3642.5958,N,-12155.4336,W,1,03,00.5,081.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205138.71,3642.5959,N,-12155.4334,W,1,03,00.5,079.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.76 1.66 16.40 3.82 3.86 0 -9323.88 05:55:17 m : AshtechGps::processRecord() - $GPGGA,205140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205139.71,3642.5959,N,-12155.4332,W,1,03,00.5,082.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205140.71,3642.5958,N,-12155.4332,W,1,03,00.5,080.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 410.001913 : TerrainNav update at dvl time = 410.001913 : _navData-> (x,y) = (4063234.37, 596112.42) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.86 0.83 17.87 3.76 3.87 0 9224.24 05:55:20 m : AshtechGps::processRecord() - $GPGGA,205142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205141.71,3642.5958,N,-12155.4335,W,1,03,00.5,081.1,M,-99.9,M,,*4d : Estimated North Bias at time = 410.00 : 1.57 : Estimated East Bias at time = 410.00 : 1.75 : Estimated Depth Bias at time = 410.00 : -0.05 : Estimated northing and easting = 4063235.95 : 596114.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.760000, mean min cell voltage 3.790000 : AshtechGps::processRecord() - $GPGGA,205143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205142.71,3642.5957,N,-12155.4338,W,1,03,00.5,081.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205143.71,3642.5956,N,-12155.4340,W,1,03,00.5,080.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205144.71,3642.5956,N,-12155.4342,W,1,03,00.5,080.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205145.71,3642.5956,N,-12155.4342,W,1,03,00.5,080.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 415.001570 : TerrainNav update at dvl time = 415.001570 : _navData-> (x,y) = (4063233.98, 596110.92) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205147.00,3642.60062,N,12155.43702,W,1,10,0.8,-5.86,M,-32.59,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : NMEA Update: $GPGGA,205146.71,3642.6006,N,-12155.4370,W,1,03,00.5,081.3,M,-99.9,M,,*48 : Estimated North Bias at time = 415.00 : 1.82 : Estimated East Bias at time = 415.00 : 1.38 : Estimated Depth Bias at time = 415.00 : -0.05 : Estimated northing and easting = 4063235.80 : 596112.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205148.00,3642.60036,N,12155.43681,W,1,10,0.8,-5.94,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,205147.71,3642.6004,N,-12155.4368,W,1,03,00.5,081.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205149.00,3642.60031,N,12155.43668,W,1,10,0.8,-6.02,M,-32.59,M,,*7F : 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,205148.71,3642.6003,N,-12155.4366,W,1,03,00.5,080.5,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.76 1.59 16.40 3.82 3.87 0 -9324.03 05:55:27 m : AshtechGps::processRecord() - $GPGGA,205150.00,3642.60049,N,12155.43676,W,1,11,0.8,-6.26,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : NMEA Update: $GPGGA,205149.71,3642.6005,N,-12155.4367,W,1,03,00.5,078.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205151.00,3642.60036,N,12155.43675,W,1,11,0.8,-6.53,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : NMEA Update: $GPGGA,205150.71,3642.6004,N,-12155.4368,W,1,03,00.5,081.4,M,-99.9,M,,*43 : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4063242.71, 596106.99) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 420.00 : 1.81 : Estimated East Bias at time = 420.00 : 1.41 : Estimated Depth Bias at time = 420.00 : -0.05 : Estimated northing and easting = 4063244.52 : 596108.39 : BluefinBatt Reply: $b3q0 d- 30.90 0.79 17.87 3.76 3.87 0 9224.16 05:55:30 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205152.00,3642.60040,N,12155.43694,W,1,11,0.8,-6.74,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205151.71,3642.6004,N,-12155.4369,W,1,03,00.5,082.9,M,-99.9,M,,*4d : batts online 2, min cell voltage 3.760000, mean min cell voltage 3.790000 : AshtechGps::processRecord() - $GPGGA,205153.00,3642.60045,N,12155.43722,W,1,11,0.8,-6.53,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : NMEA Update: $GPGGA,205152.71,3642.6005,N,-12155.4373,W,1,03,00.5,081.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205154.00,3642.60023,N,12155.43713,W,1,11,0.8,-5.93,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : NMEA Update: $GPGGA,205153.71,3642.6002,N,-12155.4371,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205155.00,3642.60036,N,12155.43713,W,1,11,0.8,-5.84,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,205154.71,3642.6003,N,-12155.4371,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,205156.00,3642.60017,N,12155.43656,W,1,11,0.8,-5.40,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 468.597899) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 468.597899) Behavior descend:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205155.71,3642.6002,N,-12155.4365,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : TerrainNav update at nav time = 425.000885 : TerrainNav update at dvl time = 425.000885 : _navData-> (x,y) = (4063242.35, 596107.43) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 425.00 : 1.79 : Estimated East Bias at time = 425.00 : 1.43 : Estimated Depth Bias at time = 425.00 : -0.05 : Estimated northing and easting = 4063244.14 : 596108.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205157.00,3642.60022,N,12155.43630,W,1,11,0.8,-5.70,M,-32.59,M,,*78 : NMEA Update: $GPGGA,205156.71,3642.6002,N,-12155.4362,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205158.00,3642.60010,N,12155.43610,W,1,11,0.8,-6.25,M,-32.59,M,,*77 : NMEA Update: $GPGGA,205157.71,3642.6001,N,-12155.4361,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,205159.00,3642.59998,N,12155.43618,W,1,11,0.8,-6.61,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205158.71,3642.6000,N,-12155.4362,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : BluefinBatt Reply: $aaq0 d- 30.68 3.11 16.30 3.82 3.87 0 -9324.22 05:55:37 m : AshtechGps::processRecord() - $GPGGA,205200.00,3642.60014,N,12155.43655,W,1,11,0.8,-6.98,M,-32.59,M,,*7A : NMEA Update: $GPGGA,205159.71,3642.6001,N,-12155.4366,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205201.00,3642.60011,N,12155.43676,W,1,11,0.8,-6.42,M,-32.59,M,,*78 : NMEA Update: $GPGGA,205200.71,3642.6001,N,-12155.4368,W,1,03,00.5,086.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 430.000543 : TerrainNav update at dvl time = 430.000543 : _navData-> (x,y) = (4063242.20, 596106.95) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 430.00 : 1.75 : Estimated East Bias at time = 430.00 : 1.44 : Estimated Depth Bias at time = 430.00 : -0.05 : Estimated northing and easting = 4063243.95 : 596108.39 : BluefinBatt Reply: $b3q0 d- 30.67 4.86 17.77 3.73 3.85 0 9223.95 05:55:40 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205202.00,3642.60010,N,12155.43692,W,1,11,0.8,-5.88,M,-32.59,M,,*75 : NMEA Update: $GPGGA,205201.71,3642.6001,N,-12155.4369,W,1,03,00.5,080.0,M,-99.9,M,,*45 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,205203.00,3642.59981,N,12155.43686,W,1,11,0.8,-5.80,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205202.71,3642.5998,N,-12155.4368,W,1,03,00.5,080.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205204.00,3642.59960,N,12155.43681,W,1,11,0.8,-5.76,M,-32.59,M,,*74 : NMEA Update: $GPGGA,205203.71,3642.5996,N,-12155.4368,W,1,03,00.5,080.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205205.00,3642.59947,N,12155.43693,W,1,11,0.8,-5.62,M,-32.59,M,,*76 : NMEA Update: $GPGGA,205204.71,3642.5994,N,-12155.4369,W,1,03,00.5,080.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205206.00,3642.59919,N,12155.43707,W,1,11,0.8,-5.69,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205205.71,3642.5991,N,-12155.4370,W,1,03,00.5,082.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 435.000201 : TerrainNav update at dvl time = 435.000201 : _navData-> (x,y) = (4063240.43, 596106.66) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 435.00 : 1.82 : Estimated East Bias at time = 435.00 : 1.42 : Estimated Depth Bias at time = 435.00 : -0.05 : Estimated northing and easting = 4063242.25 : 596108.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205207.00,3642.59895,N,12155.43708,W,1,11,0.8,-5.88,M,-32.59,M,,*7D : NMEA Update: $GPGGA,205206.71,3642.5989,N,-12155.4370,W,1,03,00.5,080.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205208.00,3642.59877,N,12155.43716,W,1,11,0.8,-5.93,M,-32.59,M,,*7B : NMEA Update: $GPGGA,205207.71,3642.5987,N,-12155.4371,W,1,03,00.5,080.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205209.00,3642.59858,N,12155.43727,W,1,11,0.8,-6.09,M,-32.59,M,,*75 : NMEA Update: $GPGGA,205208.71,3642.5985,N,-12155.4373,W,1,03,00.5,080.8,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.53 6.97 16.30 3.80 3.85 0 -9324.54 05:55:47 m : AshtechGps::processRecord() - $GPGGA,205210.00,3642.59824,N,12155.43720,W,1,11,0.8,-5.86,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205209.71,3642.5982,N,-12155.4372,W,1,03,00.5,080.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205211.00,3642.59776,N,12155.43702,W,1,11,0.8,-6.19,M,-32.59,M,,*79 : NMEA Update: $GPGGA,205210.71,3642.5977,N,-12155.4370,W,1,03,00.5,080.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 439.999858 : TerrainNav update at dvl time = 439.999858 : _navData-> (x,y) = (4063237.75, 596106.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 440.00 : 1.79 : Estimated East Bias at time = 440.00 : 1.42 : Estimated Depth Bias at time = 440.00 : -0.05 : Estimated northing and easting = 4063239.54 : 596108.20 : BluefinBatt Reply: $b3q0 d- 30.63 4.75 17.77 3.73 3.85 0 9223.64 05:55:50 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205212.00,3642.59715,N,12155.43720,W,1,11,0.8,-6.30,M,-32.59,M,,*74 : NMEA Update: $GPGGA,205211.71,3642.5971,N,-12155.4371,W,1,03,00.5,081.9,M,-99.9,M,,*48 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205213.00,3642.59663,N,12155.43678,W,1,11,0.8,-5.88,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205212.71,3642.5965,N,-12155.4367,W,1,03,00.5,076.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205214.00,3642.59604,N,12155.43658,W,1,11,0.8,-6.09,M,-32.59,M,,*77 : NMEA Update: $GPGGA,205213.71,3642.5959,N,-12155.4365,W,1,03,00.5,086.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205215.00,3642.59557,N,12155.43631,W,1,11,0.8,-6.08,M,-32.59,M,,*7D : NMEA Update: $GPGGA,205214.71,3642.5955,N,-12155.4362,W,1,03,00.5,080.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205216.00,3642.59531,N,12155.43608,W,1,11,0.8,-6.01,M,-32.59,M,,*7D : NMEA Update: $GPGGA,205215.70,3642.5953,N,-12155.4360,W,1,03,00.5,080.5,M,-99.9,M,,*40 : TerrainNav update at nav time = 444.999516 : TerrainNav update at dvl time = 444.999516 : _navData-> (x,y) = (4063233.26, 596108.27) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 445.00 : 1.82 : Estimated East Bias at time = 445.00 : 1.43 : Estimated Depth Bias at time = 445.00 : -0.05 : Estimated northing and easting = 4063235.08 : 596109.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205217.00,3642.59504,N,12155.43553,W,1,11,0.8,-6.18,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205216.70,3642.5950,N,-12155.4354,W,1,03,00.5,080.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205218.00,3642.59466,N,12155.43467,W,1,11,0.8,-6.24,M,-32.59,M,,*7C : NMEA Update: $GPGGA,205217.70,3642.5946,N,-12155.4345,W,1,03,00.5,080.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205219.00,3642.59417,N,12155.43398,W,1,11,0.8,-6.64,M,-32.59,M,,*78 : NMEA Update: $GPGGA,205218.70,3642.5941,N,-12155.4338,W,1,03,00.5,080.3,M,-99.9,M,,*45 : BluefinBatt Reply: $aaq0 d- 30.57 5.82 16.30 3.80 3.85 0 -9325.19 05:55:57 m : AshtechGps::processRecord() - $GPGGA,205220.00,3642.59381,N,12155.43339,W,1,11,0.8,-6.58,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205219.70,3642.5938,N,-12155.4332,W,1,03,00.5,080.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205221.00,3642.59338,N,12155.43277,W,1,11,0.8,-6.65,M,-32.59,M,,*78 : NMEA Update: $GPGGA,205220.70,3642.5933,N,-12155.4327,W,1,03,00.5,079.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4063229.77, 596113.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 450.00 : 1.86 : Estimated East Bias at time = 450.00 : 1.40 : Estimated Depth Bias at time = 450.00 : -0.05 : Estimated northing and easting = 4063231.63 : 596114.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.63 5.55 17.77 3.73 3.84 0 9223.15 05:56:00 m : AshtechGps::processRecord() - $GPGGA,205222.00,3642.59301,N,12155.43213,W,1,11,0.8,-7.06,M,-32.59,M,,*77 : NMEA Update: $GPGGA,205221.70,3642.5930,N,-12155.4320,W,1,03,00.5,079.4,M,-99.9,M,,*41 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205223.00,3642.59290,N,12155.43158,W,1,11,0.8,-6.96,M,-32.59,M,,*7B : NMEA Update: $GPGGA,205222.70,3642.5928,N,-12155.4315,W,1,03,00.5,080.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205224.00,3642.59298,N,12155.43100,W,1,11,0.8,-6.34,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205223.70,3642.5930,N,-12155.4309,W,1,03,00.5,080.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205225.00,3642.59291,N,12155.43004,W,1,11,0.8,-5.76,M,-32.59,M,,*79 : NMEA Update: $GPGGA,205224.70,3642.5929,N,-12155.4299,W,1,03,00.5,080.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205226.00,3642.59283,N,12155.42881,W,1,11,0.8,-5.47,M,-32.59,M,,*7F : NMEA Update: $GPGGA,205225.70,3642.5928,N,-12155.4286,W,1,03,00.5,081.4,M,-99.9,M,,*46 : TerrainNav update at nav time = 454.998831 : TerrainNav update at dvl time = 454.998831 : _navData-> (x,y) = (4063228.90, 596119.39) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 455.00 : 1.82 : Estimated East Bias at time = 455.00 : 1.40 : Estimated Depth Bias at time = 455.00 : -0.05 : Estimated northing and easting = 4063230.71 : 596120.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205227.00,3642.59271,N,12155.42759,W,1,11,0.8,-6.02,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205226.70,3642.5927,N,-12155.4273,W,1,03,00.5,080.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205228.00,3642.59264,N,12155.42662,W,1,11,0.8,-7.33,M,-32.59,M,,*7A : NMEA Update: $GPGGA,205227.70,3642.5926,N,-12155.4264,W,1,03,00.5,081.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205229.00,3642.59382,N,12155.42479,W,1,05,1.9,-8.49,M,-32.59,M,,*7D : NMEA Update: $GPGGA,205228.70,3642.5938,N,-12155.4246,W,1,03,00.5,080.9,M,-99.9,M,,*4a : BluefinBatt Reply: $aaq0 d- 30.60 4.75 16.40 3.80 3.84 0 -9325.54 05:56:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205230.00,3642.59281,N,12155.42491,W,1,11,0.8,-7.33,M,-32.59,M,,*76 : NMEA Update: $GPGGA,205229.70,3642.5928,N,-12155.4248,W,1,03,00.5,079.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205231.00,3642.59292,N,12155.42392,W,1,11,0.8,-6.13,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205230.70,3642.5930,N,-12155.4238,W,1,03,00.5,080.4,M,-99.9,M,,*4f : TerrainNav update at nav time = 459.998488 : TerrainNav update at dvl time = 459.998488 : _navData-> (x,y) = (4063229.24, 596126.55) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 460.00 : 1.88 : Estimated East Bias at time = 460.00 : 1.41 : Estimated Depth Bias at time = 460.00 : -0.05 : Estimated northing and easting = 4063231.12 : 596127.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.71 4.41 17.77 3.73 3.84 0 9222.85 05:56:10 m : AshtechGps::processRecord() - $GPGGA,205232.00,3642.59287,N,12155.42309,W,1,10,0.8,-7.79,M,-32.59,M,,*7B : NMEA Update: $GPGGA,205231.70,3642.5929,N,-12155.4229,W,1,03,00.5,080.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205233.00,3642.59343,N,12155.42259,W,1,10,1.0,-7.52,M,-32.59,M,,*77 : NMEA Update: $GPGGA,205232.70,3642.5935,N,-12155.4225,W,1,03,00.5,080.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205233.70,3642.5936,N,-12155.4224,W,1,03,00.5,079.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205234.70,3642.5941,N,-12155.4219,W,1,03,00.5,081.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205235.70,3642.5945,N,-12155.4213,W,1,03,00.5,081.6,M,-99.9,M,,*42 : TerrainNav update at nav time = 464.998146 : TerrainNav update at dvl time = 464.998146 : _navData-> (x,y) = (4063232.03, 596130.23) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205236.70,3642.5948,N,-12155.4205,W,1,03,00.5,080.8,M,-99.9,M,,*44 : Estimated North Bias at time = 465.00 : 1.39 : Estimated East Bias at time = 465.00 : 3.58 : Estimated Depth Bias at time = 465.00 : -0.05 : Estimated northing and easting = 4063233.42 : 596133.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205237.70,3642.5952,N,-12155.4197,W,1,03,00.5,081.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205238.70,3642.5956,N,-12155.4187,W,1,03,00.5,080.8,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.57 5.56 16.40 3.80 3.84 0 -9326.08 05:56:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 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,205239.70,3642.5960,N,-12155.4178,W,1,03,00.5,079.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205240.70,3642.5964,N,-12155.4172,W,1,03,00.5,080.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 469.997803 : TerrainNav update at dvl time = 469.997803 : _navData-> (x,y) = (4063235.72, 596136.28) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.98 17.87 3.73 3.84 0 9222.36 05:56:20 m : AshtechGps::processRecord() - $GPGGA,205242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205241.70,3642.5969,N,-12155.4166,W,1,03,00.5,078.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 470.00 : 1.01 : Estimated East Bias at time = 470.00 : 2.85 : Estimated Depth Bias at time = 470.00 : -0.05 : Estimated northing and easting = 4063236.73 : 596139.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205242.70,3642.5975,N,-12155.4161,W,1,03,00.5,077.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 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,205243.70,3642.5981,N,-12155.4156,W,1,03,00.5,078.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205244.70,3642.5988,N,-12155.4150,W,1,03,00.5,079.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205245.70,3642.5994,N,-12155.4144,W,1,03,00.5,079.2,M,-99.9,M,,*4b : TerrainNav update at nav time = 474.997461 : TerrainNav update at dvl time = 474.997461 : _navData-> (x,y) = (4063241.37, 596140.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205246.70,3642.6001,N,-12155.4138,W,1,03,00.5,076.8,M,-99.9,M,,*40 : Estimated North Bias at time = 475.00 : 0.15 : Estimated East Bias at time = 475.00 : 2.64 : Estimated Depth Bias at time = 475.00 : -0.05 : Estimated northing and easting = 4063241.51 : 596143.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205247.70,3642.6008,N,-12155.4131,W,1,03,00.5,078.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205248.70,3642.6014,N,-12155.4123,W,1,03,00.5,078.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.57 5.53 16.40 3.79 3.84 0 -9326.47 05:56:27 m : AshtechGps::processRecord() - $GPGGA,205250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205249.70,3642.6020,N,-12155.4114,W,1,03,00.5,077.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 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,205250.70,3642.6025,N,-12155.4105,W,1,03,00.5,077.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4063247.01, 596146.09) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.29 17.87 3.73 3.84 0 9222.06 05:56:30 m : AshtechGps::processRecord() - $GPGGA,205252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205251.70,3642.6030,N,-12155.4096,W,1,03,00.5,077.6,M,-99.9,M,,*4e : Estimated North Bias at time = 480.00 : 1.03 : Estimated East Bias at time = 480.00 : 1.25 : Estimated Depth Bias at time = 480.00 : -0.05 : Estimated northing and easting = 4063248.04 : 596147.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205252.70,3642.6035,N,-12155.4089,W,1,03,00.5,077.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 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,205253.70,3642.6041,N,-12155.4081,W,1,03,00.5,077.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205254.70,3642.6048,N,-12155.4074,W,1,03,00.5,077.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205255.70,3642.6055,N,-12155.4068,W,1,03,00.5,075.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 484.996776 : TerrainNav update at dvl time = 484.996776 : _navData-> (x,y) = (4063252.73, 596151.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205256.70,3642.6063,N,-12155.4063,W,1,03,00.5,074.1,M,-99.9,M,,*41 : Estimated North Bias at time = 485.00 : -0.07 : Estimated East Bias at time = 485.00 : 2.29 : Estimated Depth Bias at time = 485.00 : -0.05 : Estimated northing and easting = 4063252.66 : 596153.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 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,205257.70,3642.6071,N,-12155.4058,W,1,03,00.5,075.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205258.70,3642.6079,N,-12155.4051,W,1,03,00.5,075.5,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.57 5.49 16.40 3.79 3.84 0 -9327.01 05:56:37 m : AshtechGps::processRecord() - $GPGGA,205300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205259.70,3642.6085,N,-12155.4042,W,1,03,00.5,075.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 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,205300.70,3642.6091,N,-12155.4033,W,1,03,00.5,076.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 489.996433 : TerrainNav update at dvl time = 489.996433 : _navData-> (x,y) = (4063259.39, 596156.68) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.86 17.87 3.73 3.85 0 9221.61 05:56:40 m : AshtechGps::processRecord() - $GPGGA,205302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205301.70,3642.6097,N,-12155.4023,W,1,03,00.5,076.1,M,-99.9,M,,*4f : Estimated North Bias at time = 490.00 : 0.77 : Estimated East Bias at time = 490.00 : 0.92 : Estimated Depth Bias at time = 490.00 : -0.05 : Estimated northing and easting = 4063260.15 : 596157.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205302.70,3642.6102,N,-12155.4014,W,1,03,00.5,075.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 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,205303.70,3642.6108,N,-12155.4006,W,1,03,00.5,074.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 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,205304.70,3642.6115,N,-12155.4000,W,1,03,00.5,075.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205305.70,3642.6122,N,-12155.3993,W,1,03,00.5,074.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 494.996091 : TerrainNav update at dvl time = 494.996091 : _navData-> (x,y) = (4063265.16, 596162.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205306.70,3642.6129,N,-12155.3987,W,1,03,00.5,073.9,M,-99.9,M,,*41 : Estimated North Bias at time = 495.00 : 0.44 : Estimated East Bias at time = 495.00 : 2.19 : Estimated Depth Bias at time = 495.00 : -0.05 : Estimated northing and easting = 4063265.60 : 596164.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on depth 8.076110 > 8.000000 at time 540.392981 : LayeredControl::execute() -- (t = 540.392981) Behavior descend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 540.392981) Behavior setpoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,205308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205307.70,3642.6137,N,-12155.3981,W,1,03,00.5,073.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205308.70,3642.6144,N,-12155.3974,W,1,03,00.5,073.5,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.60 4.78 16.40 3.80 3.84 0 -9327.38 05:56:47 m : AshtechGps::processRecord() - $GPGGA,205310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205309.70,3642.6152,N,-12155.3967,W,1,03,00.5,074.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205310.70,3642.6159,N,-12155.3960,W,1,03,00.5,074.1,M,-99.9,M,,*47 : TerrainNav update at nav time = 499.995748 : TerrainNav update at dvl time = 499.995748 : _navData-> (x,y) = (4063272.02, 596167.46) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.22 17.77 3.73 3.85 0 9221.28 05:56:50 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205311.70,3642.6165,N,-12155.3951,W,1,03,00.5,073.5,M,-99.9,M,,*48 : Estimated North Bias at time = 500.00 : 0.05 : Estimated East Bias at time = 500.00 : 1.97 : Estimated Depth Bias at time = 500.00 : -0.05 : Estimated northing and easting = 4063272.07 : 596169.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205312.70,3642.6171,N,-12155.3943,W,1,03,00.5,073.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205313.70,3642.6177,N,-12155.3935,W,1,03,00.5,072.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205314.70,3642.6183,N,-12155.3927,W,1,03,00.5,072.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205315.70,3642.6189,N,-12155.3919,W,1,03,00.5,073.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 504.995405 : TerrainNav update at dvl time = 504.995405 : _navData-> (x,y) = (4063277.66, 596173.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205316.70,3642.6195,N,-12155.3911,W,1,03,00.5,072.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 505.00 : 0.61 : Estimated East Bias at time = 505.00 : 1.80 : Estimated Depth Bias at time = 505.00 : -0.05 : Estimated northing and easting = 4063278.27 : 596175.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205317.70,3642.6203,N,-12155.3904,W,1,03,00.5,072.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205318.70,3642.6210,N,-12155.3896,W,1,03,00.5,072.9,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.57 5.38 16.40 3.80 3.84 0 -9327.92 05:56:57 m : AshtechGps::processRecord() - $GPGGA,205320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205319.70,3642.6217,N,-12155.3889,W,1,03,00.5,072.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205320.70,3642.6224,N,-12155.3881,W,1,03,00.5,073.3,M,-99.9,M,,*46 : TerrainNav update at nav time = 509.995063 : TerrainNav update at dvl time = 509.995063 : _navData-> (x,y) = (4063284.25, 596179.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.44 17.87 3.73 3.85 0 9220.84 05:57:00 m : AshtechGps::processRecord() - $GPGGA,205322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205321.70,3642.6230,N,-12155.3873,W,1,03,00.5,072.3,M,-99.9,M,,*4e : Estimated North Bias at time = 510.00 : 0.03 : Estimated East Bias at time = 510.00 : 1.96 : Estimated Depth Bias at time = 510.00 : -0.05 : Estimated northing and easting = 4063284.28 : 596180.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205322.70,3642.6236,N,-12155.3865,W,1,03,00.5,072.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205323.70,3642.6242,N,-12155.3858,W,1,03,00.5,073.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205324.70,3642.6249,N,-12155.3850,W,1,03,00.5,073.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205325.70,3642.6256,N,-12155.3843,W,1,03,00.5,072.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 514.994720 : TerrainNav update at dvl time = 514.994720 : _navData-> (x,y) = (4063290.17, 596184.57) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205326.70,3642.6263,N,-12155.3836,W,1,03,00.5,072.8,M,-99.9,M,,*45 : Estimated North Bias at time = 514.99 : -0.11 : Estimated East Bias at time = 514.99 : 2.17 : Estimated Depth Bias at time = 514.99 : -0.05 : Estimated northing and easting = 4063290.05 : 596186.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205327.71,3642.6270,N,-12155.3830,W,1,03,00.5,072.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205328.71,3642.6277,N,-12155.3823,W,1,03,00.5,072.2,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.57 5.23 16.40 3.80 3.84 0 -9328.27 05:57:07 m : AshtechGps::processRecord() - $GPGGA,205330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205329.71,3642.6284,N,-12155.3816,W,1,03,00.5,072.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205330.71,3642.6291,N,-12155.3808,W,1,03,00.5,072.2,M,-99.9,M,,*49 : TerrainNav update at nav time = 519.994378 : TerrainNav update at dvl time = 519.994378 : _navData-> (x,y) = (4063296.84, 596189.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.22 17.87 3.73 3.85 0 9220.57 05:57:10 m : AshtechGps::processRecord() - $GPGGA,205332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205331.71,3642.6298,N,-12155.3800,W,1,03,00.5,073.2,M,-99.9,M,,*48 : Estimated North Bias at time = 519.99 : -0.31 : Estimated East Bias at time = 519.99 : 2.18 : Estimated Depth Bias at time = 519.99 : -0.05 : Estimated northing and easting = 4063296.53 : 596191.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205332.71,3642.6304,N,-12155.3791,W,1,03,00.5,071.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205333.71,3642.6310,N,-12155.3783,W,1,03,00.5,072.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205334.71,3642.6315,N,-12155.3775,W,1,03,00.5,072.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205335.71,3642.6322,N,-12155.3768,W,1,03,00.5,072.4,M,-99.9,M,,*4a : TerrainNav update at nav time = 524.994035 : TerrainNav update at dvl time = 524.994035 : _navData-> (x,y) = (4063302.51, 596195.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205336.71,3642.6329,N,-12155.3761,W,1,03,00.5,072.3,M,-99.9,M,,*4c : Estimated North Bias at time = 524.99 : 0.20 : Estimated East Bias at time = 524.99 : 2.14 : Estimated Depth Bias at time = 524.99 : -0.05 : Estimated northing and easting = 4063302.70 : 596197.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205337.71,3642.6336,N,-12155.3755,W,1,03,00.5,072.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205338.71,3642.6344,N,-12155.3748,W,1,03,00.5,072.3,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.57 5.34 16.40 3.80 3.84 0 -9328.84 05:57:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205339.71,3642.6352,N,-12155.3741,W,1,03,00.5,070.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205340.71,3642.6359,N,-12155.3733,W,1,03,00.5,072.1,M,-99.9,M,,*4f : TerrainNav update at nav time = 529.993693 : TerrainNav update at dvl time = 529.993693 : _navData-> (x,y) = (4063309.38, 596200.76) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.48 17.87 3.73 3.85 0 9220.14 05:57:20 m : AshtechGps::processRecord() - $GPGGA,205342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205341.71,3642.6365,N,-12155.3725,W,1,03,00.5,072.4,M,-99.9,M,,*43 : Estimated North Bias at time = 529.99 : -0.47 : Estimated East Bias at time = 529.99 : 2.15 : Estimated Depth Bias at time = 529.99 : -0.05 : Estimated northing and easting = 4063308.91 : 596202.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205342.71,3642.6371,N,-12155.3716,W,1,03,00.5,073.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205343.71,3642.6377,N,-12155.3708,W,1,03,00.5,072.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205344.71,3642.6383,N,-12155.3700,W,1,03,00.5,072.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205345.71,3642.6389,N,-12155.3692,W,1,03,00.5,072.1,M,-99.9,M,,*4d : TerrainNav update at nav time = 534.993351 : TerrainNav update at dvl time = 534.993351 : _navData-> (x,y) = (4063315.11, 596206.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205346.71,3642.6396,N,-12155.3685,W,1,03,00.5,071.6,M,-99.9,M,,*42 : Estimated North Bias at time = 534.99 : 0.14 : Estimated East Bias at time = 534.99 : 1.94 : Estimated Depth Bias at time = 534.99 : -0.05 : Estimated northing and easting = 4063315.25 : 596208.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205347.71,3642.6404,N,-12155.3678,W,1,03,00.5,072.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205348.71,3642.6411,N,-12155.3671,W,1,03,00.5,071.6,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.57 4.78 16.50 3.80 3.84 0 -9329.20 05:57:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205349.71,3642.6418,N,-12155.3664,W,1,03,00.5,071.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205350.71,3642.6425,N,-12155.3657,W,1,03,00.5,072.0,M,-99.9,M,,*40 : TerrainNav update at nav time = 539.993008 : TerrainNav update at dvl time = 539.993008 : _navData-> (x,y) = (4063321.73, 596211.99) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 3.95 17.87 3.73 3.85 0 9219.85 05:57:30 m : AshtechGps::processRecord() - $GPGGA,205352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205351.71,3642.6431,N,-12155.3649,W,1,03,00.5,072.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 539.99 : -0.08 : Estimated East Bias at time = 539.99 : 2.29 : Estimated Depth Bias at time = 539.99 : -0.05 : Estimated northing and easting = 4063321.65 : 596214.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205352.71,3642.6438,N,-12155.3642,W,1,03,00.5,072.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205353.71,3642.6445,N,-12155.3634,W,1,03,00.5,072.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205354.71,3642.6452,N,-12155.3626,W,1,03,00.5,072.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205355.71,3642.6459,N,-12155.3619,W,1,03,00.5,071.6,M,-99.9,M,,*41 : TerrainNav update at nav time = 545.002665 : TerrainNav update at dvl time = 545.002665 : _navData-> (x,y) = (4063328.10, 596217.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205356.71,3642.6465,N,-12155.3611,W,1,03,00.5,071.1,M,-99.9,M,,*42 : Estimated North Bias at time = 545.00 : -0.33 : Estimated East Bias at time = 545.00 : 1.89 : Estimated Depth Bias at time = 545.00 : -0.05 : Estimated northing and easting = 4063327.77 : 596219.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205357.71,3642.6472,N,-12155.3603,W,1,03,00.5,072.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205358.71,3642.6478,N,-12155.3595,W,1,03,00.5,072.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.57 5.53 16.40 3.80 3.84 0 -9329.73 05:57:37 m : AshtechGps::processRecord() - $GPGGA,205400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205359.71,3642.6484,N,-12155.3587,W,1,03,00.5,072.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205400.71,3642.6490,N,-12155.3579,W,1,03,00.5,071.8,M,-99.9,M,,*48 : TerrainNav update at nav time = 550.002322 : TerrainNav update at dvl time = 550.002322 : _navData-> (x,y) = (4063334.02, 596223.38) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.10 17.87 3.73 3.85 0 9219.41 05:57:40 m : AshtechGps::processRecord() - $GPGGA,205402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205401.71,3642.6497,N,-12155.3572,W,1,03,00.5,072.2,M,-99.9,M,,*4c : Estimated North Bias at time = 550.00 : 0.19 : Estimated East Bias at time = 550.00 : 1.93 : Estimated Depth Bias at time = 550.00 : -0.05 : Estimated northing and easting = 4063334.21 : 596225.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205402.71,3642.6504,N,-12155.3564,W,1,03,00.5,071.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205403.71,3642.6511,N,-12155.3557,W,1,03,00.5,072.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205404.71,3642.6518,N,-12155.3550,W,1,03,00.5,072.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205405.71,3642.6526,N,-12155.3543,W,1,03,00.5,072.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 555.001980 : TerrainNav update at dvl time = 555.001980 : _navData-> (x,y) = (4063340.56, 596228.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205406.71,3642.6532,N,-12155.3536,W,1,03,00.5,070.8,M,-99.9,M,,*4d : Estimated North Bias at time = 555.00 : -0.29 : Estimated East Bias at time = 555.00 : 2.36 : Estimated Depth Bias at time = 555.00 : -0.05 : Estimated northing and easting = 4063340.27 : 596231.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205407.71,3642.6539,N,-12155.3529,W,1,03,00.5,072.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205408.71,3642.6546,N,-12155.3521,W,1,03,00.5,073.1,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.60 4.67 16.40 3.80 3.84 0 -9330.09 05:57:47 m : AshtechGps::processRecord() - $GPGGA,205410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205409.71,3642.6552,N,-12155.3513,W,1,03,00.5,071.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205410.71,3642.6558,N,-12155.3505,W,1,03,00.5,071.9,M,-99.9,M,,*46 : TerrainNav update at nav time = 560.001637 : TerrainNav update at dvl time = 560.001637 : _navData-> (x,y) = (4063346.72, 596234.37) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.94 17.87 3.73 3.85 0 9219.09 05:57:50 m : AshtechGps::processRecord() - $GPGGA,205412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205411.71,3642.6565,N,-12155.3497,W,1,03,00.5,072.4,M,-99.9,M,,*4d : Estimated North Bias at time = 560.00 : 0.02 : Estimated East Bias at time = 560.00 : 1.67 : Estimated Depth Bias at time = 560.00 : -0.05 : Estimated northing and easting = 4063346.74 : 596236.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205412.71,3642.6572,N,-12155.3489,W,1,03,00.5,072.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205413.71,3642.6578,N,-12155.3482,W,1,03,00.5,072.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205414.71,3642.6585,N,-12155.3474,W,1,03,00.5,072.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205415.71,3642.6592,N,-12155.3465,W,1,03,00.5,072.5,M,-99.9,M,,*4d : TerrainNav update at nav time = 565.001295 : TerrainNav update at dvl time = 565.001295 : _navData-> (x,y) = (4063352.98, 596240.14) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205416.71,3642.6599,N,-12155.3457,W,1,03,00.5,071.7,M,-99.9,M,,*45 : Estimated North Bias at time = 565.00 : -0.22 : Estimated East Bias at time = 565.00 : 1.70 : Estimated Depth Bias at time = 565.00 : -0.05 : Estimated northing and easting = 4063352.77 : 596241.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205417.71,3642.6605,N,-12155.3449,W,1,03,00.5,072.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205418.71,3642.6612,N,-12155.3442,W,1,03,00.5,071.4,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.53 5.86 16.40 3.80 3.84 0 -9330.61 05:57:57 m : AshtechGps::processRecord() - $GPGGA,205420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205419.71,3642.6619,N,-12155.3436,W,1,03,00.5,071.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205420.71,3642.6626,N,-12155.3429,W,1,03,00.5,071.5,M,-99.9,M,,*4c : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4063359.33, 596245.48) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.29 17.87 3.73 3.85 0 9218.64 05:58:00 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205421.71,3642.6633,N,-12155.3422,W,1,03,00.5,071.9,M,-99.9,M,,*4e : Estimated North Bias at time = 570.00 : -0.44 : Estimated East Bias at time = 570.00 : 2.44 : Estimated Depth Bias at time = 570.00 : -0.05 : Estimated northing and easting = 4063358.89 : 596247.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205422.71,3642.6640,N,-12155.3415,W,1,03,00.5,072.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205423.71,3642.6646,N,-12155.3407,W,1,03,00.5,071.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205424.71,3642.6653,N,-12155.3399,W,1,03,00.5,072.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205425.71,3642.6659,N,-12155.3391,W,1,03,00.5,071.6,M,-99.9,M,,*46 : TerrainNav update at nav time = 575.000610 : TerrainNav update at dvl time = 575.000610 : _navData-> (x,y) = (4063365.57, 596251.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205426.71,3642.6666,N,-12155.3383,W,1,03,00.5,071.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 575.00 : -0.15 : Estimated East Bias at time = 575.00 : 1.67 : Estimated Depth Bias at time = 575.00 : -0.05 : Estimated northing and easting = 4063365.42 : 596252.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205427.71,3642.6673,N,-12155.3374,W,1,03,00.5,072.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205428.71,3642.6680,N,-12155.3366,W,1,03,00.5,071.9,M,-99.9,M,,*48 : BluefinBatt Reply: $aaq0 d- 30.57 5.34 16.40 3.80 3.84 0 -9331.00 05:58:07 m : AshtechGps::processRecord() - $GPGGA,205430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205429.71,3642.6686,N,-12155.3358,W,1,03,00.5,072.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205430.71,3642.6693,N,-12155.3350,W,1,03,00.5,071.9,M,-99.9,M,,*46 : TerrainNav update at nav time = 580.000267 : TerrainNav update at dvl time = 580.000267 : _navData-> (x,y) = (4063371.79, 596257.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.10 17.87 3.73 3.85 0 9218.35 05:58:10 m : AshtechGps::processRecord() - $GPGGA,205432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205431.71,3642.6699,N,-12155.3343,W,1,03,00.5,071.5,M,-99.9,M,,*43 : Estimated North Bias at time = 580.00 : 0.06 : Estimated East Bias at time = 580.00 : 1.90 : Estimated Depth Bias at time = 580.00 : -0.05 : Estimated northing and easting = 4063371.85 : 596258.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205432.71,3642.6706,N,-12155.3336,W,1,03,00.5,071.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205433.71,3642.6713,N,-12155.3330,W,1,03,00.5,072.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205434.71,3642.6720,N,-12155.3323,W,1,03,00.5,071.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205435.71,3642.6727,N,-12155.3316,W,1,03,00.5,071.3,M,-99.9,M,,*45 : TerrainNav update at nav time = 584.999925 : TerrainNav update at dvl time = 584.999925 : _navData-> (x,y) = (4063378.24, 596262.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205436.71,3642.6734,N,-12155.3308,W,1,03,00.5,072.5,M,-99.9,M,,*4e : Estimated North Bias at time = 585.00 : -0.42 : Estimated East Bias at time = 585.00 : 2.14 : Estimated Depth Bias at time = 585.00 : -0.05 : Estimated northing and easting = 4063377.82 : 596264.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205437.71,3642.6741,N,-12155.3301,W,1,03,00.5,072.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205438.71,3642.6748,N,-12155.3293,W,1,03,00.5,072.3,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.57 4.93 16.40 3.80 3.84 0 -9331.53 05:58:17 m : AshtechGps::processRecord() - $GPGGA,205440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205439.71,3642.6754,N,-12155.3286,W,1,03,00.5,072.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205440.71,3642.6761,N,-12155.3277,W,1,03,00.5,072.4,M,-99.9,M,,*47 : TerrainNav update at nav time = 589.999582 : TerrainNav update at dvl time = 589.999582 : _navData-> (x,y) = (4063384.58, 596267.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.48 17.87 3.73 3.85 0 9217.93 05:58:20 m : AshtechGps::processRecord() - $GPGGA,205442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205441.70,3642.6768,N,-12155.3270,W,1,03,00.5,072.3,M,-99.9,M,,*4e : Estimated North Bias at time = 590.00 : -0.26 : Estimated East Bias at time = 590.00 : 1.75 : Estimated Depth Bias at time = 590.00 : -0.05 : Estimated northing and easting = 4063384.32 : 596269.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205442.70,3642.6775,N,-12155.3262,W,1,03,00.5,071.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205443.70,3642.6782,N,-12155.3255,W,1,03,00.5,072.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205444.70,3642.6789,N,-12155.3248,W,1,03,00.5,072.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205445.70,3642.6795,N,-12155.3240,W,1,03,00.5,071.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 594.999240 : TerrainNav update at dvl time = 594.999240 : _navData-> (x,y) = (4063390.89, 596273.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205446.70,3642.6801,N,-12155.3232,W,1,03,00.5,072.1,M,-99.9,M,,*4d : Estimated North Bias at time = 595.00 : -0.22 : Estimated East Bias at time = 595.00 : 2.16 : Estimated Depth Bias at time = 595.00 : -0.05 : Estimated northing and easting = 4063390.67 : 596275.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205447.70,3642.6807,N,-12155.3223,W,1,03,00.5,072.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205448.70,3642.6813,N,-12155.3214,W,1,03,00.5,072.1,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.57 5.08 16.40 3.80 3.84 0 -9331.88 05:58:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205449.70,3642.6819,N,-12155.3205,W,1,03,00.5,071.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205450.70,3642.6826,N,-12155.3198,W,1,03,00.5,071.4,M,-99.9,M,,*4a : TerrainNav update at nav time = 599.998897 : TerrainNav update at dvl time = 599.998897 : _navData-> (x,y) = (4063396.75, 596279.45) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.48 17.87 3.73 3.85 0 9217.61 05:58:30 m : AshtechGps::processRecord() - $GPGGA,205452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205451.70,3642.6834,N,-12155.3192,W,1,03,00.5,071.7,M,-99.9,M,,*41 : Estimated North Bias at time = 600.00 : -0.23 : Estimated East Bias at time = 600.00 : 1.72 : Estimated Depth Bias at time = 600.00 : -0.05 : Estimated northing and easting = 4063396.52 : 596281.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205452.70,3642.6842,N,-12155.3186,W,1,03,00.5,071.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205453.70,3642.6849,N,-12155.3181,W,1,03,00.5,071.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205454.70,3642.6857,N,-12155.3175,W,1,03,00.5,071.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205455.70,3642.6863,N,-12155.3167,W,1,03,00.5,071.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 604.998555 : TerrainNav update at dvl time = 604.998555 : _navData-> (x,y) = (4063403.66, 596283.92) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205456.70,3642.6869,N,-12155.3159,W,1,03,00.5,072.8,M,-99.9,M,,*45 : Estimated North Bias at time = 605.00 : -0.50 : Estimated East Bias at time = 605.00 : 2.45 : Estimated Depth Bias at time = 605.00 : -0.05 : Estimated northing and easting = 4063403.16 : 596286.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205458.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205457.70,3642.6875,N,-12155.3149,W,1,03,00.5,072.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205458.70,3642.6880,N,-12155.3139,W,1,03,00.5,072.6,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.57 5.16 16.40 3.80 3.84 0 -9332.39 05:58:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205459.70,3642.6886,N,-12155.3129,W,1,03,00.5,072.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205500.70,3642.6892,N,-12155.3120,W,1,03,00.5,072.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 609.998212 : TerrainNav update at dvl time = 609.998212 : _navData-> (x,y) = (4063409.02, 596290.89) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 3.99 17.87 3.73 3.85 0 9217.16 05:58:40 m : AshtechGps::processRecord() - $GPGGA,205502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205501.70,3642.6899,N,-12155.3114,W,1,03,00.5,072.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 610.00 : -0.01 : Estimated East Bias at time = 610.00 : 1.43 : Estimated Depth Bias at time = 610.00 : -0.05 : Estimated northing and easting = 4063409.01 : 596292.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205502.70,3642.6906,N,-12155.3108,W,1,03,00.5,071.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205503.70,3642.6914,N,-12155.3103,W,1,03,00.5,071.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205504.70,3642.6922,N,-12155.3097,W,1,03,00.5,071.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205505.70,3642.6929,N,-12155.3089,W,1,03,00.5,072.5,M,-99.9,M,,*46 : TerrainNav update at nav time = 614.997870 : TerrainNav update at dvl time = 614.997870 : _navData-> (x,y) = (4063415.87, 596295.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205506.70,3642.6935,N,-12155.3081,W,1,03,00.5,072.2,M,-99.9,M,,*47 : Estimated North Bias at time = 615.00 : -0.66 : Estimated East Bias at time = 615.00 : 2.40 : Estimated Depth Bias at time = 615.00 : -0.05 : Estimated northing and easting = 4063415.22 : 596297.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205507.70,3642.6942,N,-12155.3072,W,1,03,00.5,071.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205508.70,3642.6948,N,-12155.3063,W,1,03,00.5,072.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.57 4.86 16.40 3.79 3.84 0 -9332.75 05:58:47 m : AshtechGps::processRecord() - $GPGGA,205510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205509.70,3642.6955,N,-12155.3055,W,1,03,00.5,071.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205510.70,3642.6961,N,-12155.3048,W,1,03,00.5,071.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 619.997527 : TerrainNav update at dvl time = 619.997527 : _navData-> (x,y) = (4063421.90, 596301.45) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.25 17.87 3.73 3.85 0 9216.87 05:58:50 m : AshtechGps::processRecord() - $GPGGA,205512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205511.70,3642.6967,N,-12155.3041,W,1,03,00.5,072.2,M,-99.9,M,,*4a : Estimated North Bias at time = 620.00 : -0.35 : Estimated East Bias at time = 620.00 : 2.54 : Estimated Depth Bias at time = 620.00 : -0.05 : Estimated northing and easting = 4063421.55 : 596304.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205512.70,3642.6974,N,-12155.3034,W,1,03,00.5,071.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205513.70,3642.6980,N,-12155.3027,W,1,03,00.5,072.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205514.70,3642.6987,N,-12155.3019,W,1,03,00.5,071.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205515.70,3642.6994,N,-12155.3011,W,1,03,00.5,072.1,M,-99.9,M,,*44 : TerrainNav update at nav time = 624.997185 : TerrainNav update at dvl time = 624.997185 : _navData-> (x,y) = (4063428.05, 596307.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205516.70,3642.7001,N,-12155.3003,W,1,03,00.5,071.7,M,-99.9,M,,*45 : Estimated North Bias at time = 625.00 : -0.50 : Estimated East Bias at time = 625.00 : 2.04 : Estimated Depth Bias at time = 625.00 : -0.05 : Estimated northing and easting = 4063427.55 : 596309.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205517.70,3642.7008,N,-12155.2996,W,1,03,00.5,071.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205519.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205518.70,3642.7015,N,-12155.2989,W,1,03,00.5,071.5,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.57 5.04 16.40 3.79 3.84 0 -9333.28 05:58:57 m : AshtechGps::processRecord() - $GPGGA,205520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205519.70,3642.7023,N,-12155.2982,W,1,03,00.5,071.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205520.70,3642.7030,N,-12155.2975,W,1,03,00.5,072.9,M,-99.9,M,,*46 : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4063434.74, 596312.22) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.37 17.87 3.73 3.85 0 9216.46 05:59:00 m : AshtechGps::processRecord() - $GPGGA,205522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205521.70,3642.7036,N,-12155.2967,W,1,03,00.5,072.5,M,-99.9,M,,*4e : Estimated North Bias at time = 630.00 : -0.84 : Estimated East Bias at time = 630.00 : 2.61 : Estimated Depth Bias at time = 630.00 : -0.05 : Estimated northing and easting = 4063433.91 : 596314.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205522.70,3642.7042,N,-12155.2959,W,1,03,00.5,070.9,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205523.70,3642.7048,N,-12155.2951,W,1,03,00.5,072.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205524.70,3642.7054,N,-12155.2943,W,1,03,00.5,071.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205525.70,3642.7061,N,-12155.2936,W,1,03,00.5,071.4,M,-99.9,M,,*4e : TerrainNav update at nav time = 634.996500 : TerrainNav update at dvl time = 634.996500 : _navData-> (x,y) = (4063440.62, 596317.97) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205526.70,3642.7068,N,-12155.2929,W,1,03,00.5,071.9,M,-99.9,M,,*47 : Estimated North Bias at time = 635.00 : -0.63 : Estimated East Bias at time = 635.00 : 2.45 : Estimated Depth Bias at time = 635.00 : -0.05 : Estimated northing and easting = 4063439.99 : 596320.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205527.70,3642.7076,N,-12155.2923,W,1,03,00.5,071.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205528.70,3642.7084,N,-12155.2916,W,1,03,00.5,070.8,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.57 5.12 16.40 3.80 3.84 0 -9333.62 05:59:07 m : AshtechGps::processRecord() - $GPGGA,205530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205529.70,3642.7091,N,-12155.2909,W,1,03,00.5,072.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205530.70,3642.7098,N,-12155.2901,W,1,03,00.5,072.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 639.996157 : TerrainNav update at dvl time = 639.996157 : _navData-> (x,y) = (4063447.47, 596323.04) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.71 4.22 17.87 3.73 3.85 0 9216.17 05:59:10 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205531.70,3642.7104,N,-12155.2893,W,1,03,00.5,071.7,M,-99.9,M,,*44 : Estimated North Bias at time = 640.00 : -0.96 : Estimated East Bias at time = 640.00 : 2.57 : Estimated Depth Bias at time = 640.00 : -0.05 : Estimated northing and easting = 4063446.51 : 596325.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205532.70,3642.7109,N,-12155.2885,W,1,03,00.5,071.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205533.70,3642.7115,N,-12155.2877,W,1,03,00.5,071.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205534.70,3642.7122,N,-12155.2869,W,1,03,00.5,071.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205535.70,3642.7129,N,-12155.2863,W,1,03,00.5,071.6,M,-99.9,M,,*41 : TerrainNav update at nav time = 644.995815 : TerrainNav update at dvl time = 644.995815 : _navData-> (x,y) = (4063453.25, 596328.76) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205536.70,3642.7137,N,-12155.2856,W,1,03,00.5,072.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 645.00 : -0.70 : Estimated East Bias at time = 645.00 : 2.52 : Estimated Depth Bias at time = 645.00 : -0.05 : Estimated northing and easting = 4063452.56 : 596331.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205537.70,3642.7144,N,-12155.2849,W,1,03,00.5,071.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205539.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205538.70,3642.7152,N,-12155.2842,W,1,03,00.5,072.6,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.57 5.23 16.40 3.80 3.84 0 -9334.14 05:59:17 m : AshtechGps::processRecord() - $GPGGA,205540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205539.70,3642.7158,N,-12155.2835,W,1,03,00.5,072.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205540.70,3642.7164,N,-12155.2827,W,1,03,00.5,072.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 649.995472 : TerrainNav update at dvl time = 649.995472 : _navData-> (x,y) = (4063459.87, 596334.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.22 17.87 3.73 3.85 0 9215.71 05:59:20 m : AshtechGps::processRecord() - $GPGGA,205542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205541.70,3642.7170,N,-12155.2818,W,1,03,00.5,072.2,M,-99.9,M,,*45 : Estimated North Bias at time = 650.00 : -0.23 : Estimated East Bias at time = 650.00 : 2.03 : Estimated Depth Bias at time = 650.00 : -0.05 : Estimated northing and easting = 4063459.65 : 596336.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205542.70,3642.7176,N,-12155.2810,W,1,03,00.5,072.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205543.70,3642.7182,N,-12155.2802,W,1,03,00.5,071.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205544.70,3642.7190,N,-12155.2795,W,1,03,00.5,071.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205545.70,3642.7197,N,-12155.2788,W,1,03,00.5,071.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 654.995130 : TerrainNav update at dvl time = 654.995130 : _navData-> (x,y) = (4063466.01, 596339.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205546.70,3642.7205,N,-12155.2782,W,1,03,00.5,072.1,M,-99.9,M,,*4c : Estimated North Bias at time = 655.00 : -0.88 : Estimated East Bias at time = 655.00 : 2.47 : Estimated Depth Bias at time = 655.00 : -0.05 : Estimated northing and easting = 4063465.13 : 596342.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205547.70,3642.7212,N,-12155.2776,W,1,03,00.5,070.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205548.70,3642.7218,N,-12155.2770,W,1,03,00.5,071.2,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.57 4.71 16.40 3.80 3.84 0 -9334.51 05:59:27 m : AshtechGps::processRecord() - $GPGGA,205550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205549.70,3642.7225,N,-12155.2763,W,1,03,00.5,071.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205550.70,3642.7231,N,-12155.2755,W,1,03,00.5,071.9,M,-99.9,M,,*4d : TerrainNav update at nav time = 659.994787 : TerrainNav update at dvl time = 659.994787 : _navData-> (x,y) = (4063472.26, 596344.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.90 17.87 3.73 3.85 0 9215.44 05:59:30 m : AshtechGps::processRecord() - $GPGGA,205552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205551.70,3642.7237,N,-12155.2746,W,1,03,00.5,072.3,M,-99.9,M,,*41 : Estimated North Bias at time = 659.99 : -0.13 : Estimated East Bias at time = 659.99 : 1.91 : Estimated Depth Bias at time = 659.99 : -0.05 : Estimated northing and easting = 4063472.13 : 596346.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205552.70,3642.7243,N,-12155.2737,W,1,03,00.5,072.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205553.71,3642.7250,N,-12155.2728,W,1,03,00.5,072.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205554.71,3642.7257,N,-12155.2721,W,1,03,00.5,072.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205555.71,3642.7264,N,-12155.2713,W,1,03,00.5,071.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 664.994445 : TerrainNav update at dvl time = 664.994445 : _navData-> (x,y) = (4063478.52, 596350.70) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205556.71,3642.7271,N,-12155.2706,W,1,03,00.5,071.3,M,-99.9,M,,*42 : Estimated North Bias at time = 664.99 : -0.71 : Estimated East Bias at time = 664.99 : 2.24 : Estimated Depth Bias at time = 664.99 : -0.05 : Estimated northing and easting = 4063477.81 : 596352.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205557.71,3642.7278,N,-12155.2700,W,1,03,00.5,072.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205558.71,3642.7285,N,-12155.2694,W,1,03,00.5,070.9,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.57 4.97 16.40 3.80 3.84 0 -9335.04 05:59:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205559.71,3642.7292,N,-12155.2688,W,1,03,00.5,071.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205600.71,3642.7299,N,-12155.2682,W,1,03,00.5,071.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 669.994102 : TerrainNav update at dvl time = 669.994102 : _navData-> (x,y) = (4063485.05, 596355.34) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.10 17.87 3.73 3.85 0 9214.98 05:59:40 m : AshtechGps::processRecord() - $GPGGA,205602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205601.71,3642.7306,N,-12155.2674,W,1,03,00.5,071.3,M,-99.9,M,,*46 : Estimated North Bias at time = 669.99 : -0.80 : Estimated East Bias at time = 669.99 : 2.88 : Estimated Depth Bias at time = 669.99 : -0.05 : Estimated northing and easting = 4063484.24 : 596358.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205602.71,3642.7312,N,-12155.2665,W,1,03,00.5,072.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205603.71,3642.7318,N,-12155.2656,W,1,03,00.5,072.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205604.71,3642.7325,N,-12155.2647,W,1,03,00.5,072.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205605.71,3642.7332,N,-12155.2638,W,1,03,00.5,072.3,M,-99.9,M,,*4e : TerrainNav update at nav time = 674.993760 : TerrainNav update at dvl time = 674.993760 : _navData-> (x,y) = (4063491.14, 596361.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205606.71,3642.7339,N,-12155.2630,W,1,03,00.5,072.3,M,-99.9,M,,*4e : Estimated North Bias at time = 674.99 : -0.73 : Estimated East Bias at time = 674.99 : 1.97 : Estimated Depth Bias at time = 674.99 : -0.05 : Estimated northing and easting = 4063490.41 : 596363.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205607.71,3642.7345,N,-12155.2622,W,1,03,00.5,071.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205608.71,3642.7352,N,-12155.2615,W,1,03,00.5,071.3,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.57 5.08 16.40 3.80 3.84 0 -9335.38 05:59:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205609.71,3642.7359,N,-12155.2609,W,1,03,00.5,071.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205610.71,3642.7366,N,-12155.2602,W,1,03,00.5,070.9,M,-99.9,M,,*4a : TerrainNav update at nav time = 679.993417 : TerrainNav update at dvl time = 679.993417 : _navData-> (x,y) = (4063497.51, 596366.98) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.60 17.87 3.73 3.85 0 9214.64 05:59:50 m : AshtechGps::processRecord() - $GPGGA,205612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205611.71,3642.7373,N,-12155.2596,W,1,03,00.5,071.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 679.99 : -0.77 : Estimated East Bias at time = 679.99 : 3.05 : Estimated Depth Bias at time = 679.99 : -0.05 : Estimated northing and easting = 4063496.74 : 596370.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205612.71,3642.7380,N,-12155.2589,W,1,03,00.5,071.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 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,205613.71,3642.7388,N,-12155.2581,W,1,03,00.5,072.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205614.71,3642.7394,N,-12155.2573,W,1,03,00.5,071.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205615.71,3642.7401,N,-12155.2565,W,1,03,00.5,071.6,M,-99.9,M,,*45 : TerrainNav update at nav time = 684.993075 : TerrainNav update at dvl time = 684.993075 : _navData-> (x,y) = (4063504.01, 596372.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205617.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205616.71,3642.7407,N,-12155.2557,W,1,03,00.5,072.0,M,-99.9,M,,*44 : Estimated North Bias at time = 684.99 : -0.72 : Estimated East Bias at time = 684.99 : 1.98 : Estimated Depth Bias at time = 684.99 : -0.05 : Estimated northing and easting = 4063503.28 : 596374.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205617.71,3642.7413,N,-12155.2549,W,1,03,00.5,072.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205618.71,3642.7420,N,-12155.2542,W,1,03,00.5,071.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.57 5.30 16.40 3.80 3.84 0 -9335.89 05:59:57 m : AshtechGps::processRecord() - $GPGGA,205620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205619.71,3642.7427,N,-12155.2534,W,1,03,00.5,071.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205621.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205620.71,3642.7435,N,-12155.2527,W,1,03,00.5,072.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4063510.34, 596378.08) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.29 17.87 3.73 3.85 0 9214.22 06:00:00 m : AshtechGps::processRecord() - $GPGGA,205622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205621.71,3642.7442,N,-12155.2519,W,1,03,00.5,072.3,M,-99.9,M,,*48 : Estimated North Bias at time = 690.00 : -1.23 : Estimated East Bias at time = 690.00 : 2.42 : Estimated Depth Bias at time = 690.00 : -0.05 : Estimated northing and easting = 4063509.11 : 596380.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205622.71,3642.7449,N,-12155.2512,W,1,03,00.5,072.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205624.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205623.71,3642.7456,N,-12155.2505,W,1,03,00.5,072.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205624.71,3642.7463,N,-12155.2497,W,1,03,00.5,070.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,205626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205625.71,3642.7469,N,-12155.2490,W,1,03,00.5,071.5,M,-99.9,M,,*40 : TerrainNav update at nav time = 695.002389 : TerrainNav update at dvl time = 695.002389 : _navData-> (x,y) = (4063516.84, 596383.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205626.71,3642.7476,N,-12155.2483,W,1,03,00.5,072.3,M,-99.9,M,,*4a : Estimated North Bias at time = 695.00 : -0.99 : Estimated East Bias at time = 695.00 : 2.62 : Estimated Depth Bias at time = 695.00 : -0.05 : Estimated northing and easting = 4063515.84 : 596386.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205628.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205627.71,3642.7483,N,-12155.2475,W,1,03,00.5,071.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205628.71,3642.7489,N,-12155.2468,W,1,03,00.5,071.9,M,-99.9,M,,*48 : BluefinBatt Reply: $aaq0 d- 30.57 4.93 16.40 3.79 3.83 0 -9336.25 06:00:07 m : AshtechGps::processRecord() - $GPGGA,205630.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205629.71,3642.7496,N,-12155.2461,W,1,03,00.5,072.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205631.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205630.71,3642.7504,N,-12155.2453,W,1,03,00.5,071.9,M,-99.9,M,,*4d : TerrainNav update at nav time = 700.002047 : TerrainNav update at dvl time = 700.002047 : _navData-> (x,y) = (4063523.23, 596388.91) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.10 17.87 3.73 3.85 0 9213.93 06:00:10 m : AshtechGps::processRecord() - $GPGGA,205632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205631.71,3642.7511,N,-12155.2446,W,1,03,00.5,072.3,M,-99.9,M,,*45 : Estimated North Bias at time = 700.00 : -1.19 : Estimated East Bias at time = 700.00 : 2.60 : Estimated Depth Bias at time = 700.00 : -0.05 : Estimated northing and easting = 4063522.04 : 596391.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205632.71,3642.7518,N,-12155.2438,W,1,03,00.5,070.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205633.71,3642.7525,N,-12155.2431,W,1,03,00.5,071.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205635.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205634.71,3642.7531,N,-12155.2423,W,1,03,00.5,072.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205635.71,3642.7537,N,-12155.2416,W,1,03,00.5,071.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 705.001704 : TerrainNav update at dvl time = 705.001704 : _navData-> (x,y) = (4063529.52, 596394.41) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205637.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205636.71,3642.7544,N,-12155.2408,W,1,03,00.5,072.0,M,-99.9,M,,*4b : Estimated North Bias at time = 705.00 : -0.68 : Estimated East Bias at time = 705.00 : 2.54 : Estimated Depth Bias at time = 705.00 : -0.05 : Estimated northing and easting = 4063528.85 : 596396.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205638.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205637.71,3642.7551,N,-12155.2400,W,1,03,00.5,072.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205638.71,3642.7558,N,-12155.2393,W,1,03,00.5,071.5,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.57 5.38 16.40 3.79 3.83 0 -9336.79 06:00:17 m : AshtechGps::processRecord() - $GPGGA,205640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205639.71,3642.7565,N,-12155.2385,W,1,03,00.5,071.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205640.71,3642.7573,N,-12155.2378,W,1,03,00.5,071.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 710.001362 : TerrainNav update at dvl time = 710.001362 : _navData-> (x,y) = (4063536.20, 596399.94) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.95 17.87 3.73 3.85 0 9213.47 06:00:20 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205641.71,3642.7580,N,-12155.2371,W,1,03,00.5,071.9,M,-99.9,M,,*40 : Estimated North Bias at time = 710.00 : -1.44 : Estimated East Bias at time = 710.00 : 2.55 : Estimated Depth Bias at time = 710.00 : -0.05 : Estimated northing and easting = 4063534.76 : 596402.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205642.71,3642.7587,N,-12155.2364,W,1,03,00.5,071.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205643.71,3642.7593,N,-12155.2357,W,1,03,00.5,071.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205644.71,3642.7599,N,-12155.2350,W,1,03,00.5,071.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205645.71,3642.7606,N,-12155.2343,W,1,03,00.5,071.8,M,-99.9,M,,*49 : TerrainNav update at nav time = 715.001019 : TerrainNav update at dvl time = 715.001019 : _navData-> (x,y) = (4063542.27, 596405.17) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205646.71,3642.7612,N,-12155.2335,W,1,03,00.5,071.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 715.00 : -0.68 : Estimated East Bias at time = 715.00 : 2.37 : Estimated Depth Bias at time = 715.00 : -0.05 : Estimated northing and easting = 4063541.59 : 596407.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205647.71,3642.7619,N,-12155.2327,W,1,03,00.5,071.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205649.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205648.71,3642.7626,N,-12155.2319,W,1,03,00.5,072.0,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.57 5.08 16.50 3.80 3.84 0 -9337.12 06:00:27 m : AshtechGps::processRecord() - $GPGGA,205650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205649.71,3642.7634,N,-12155.2311,W,1,03,00.5,071.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205650.71,3642.7641,N,-12155.2304,W,1,03,00.5,071.3,M,-99.9,M,,*46 : TerrainNav update at nav time = 720.000677 : TerrainNav update at dvl time = 720.000677 : _navData-> (x,y) = (4063548.91, 596410.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 3.95 17.87 3.73 3.85 0 9213.16 06:00:30 m : AshtechGps::processRecord() - $GPGGA,205652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205651.71,3642.7648,N,-12155.2296,W,1,03,00.5,071.8,M,-99.9,M,,*4f : Estimated North Bias at time = 720.00 : -1.31 : Estimated East Bias at time = 720.00 : 2.13 : Estimated Depth Bias at time = 720.00 : -0.05 : Estimated northing and easting = 4063547.60 : 596413.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,205653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205652.71,3642.7655,N,-12155.2289,W,1,03,00.5,071.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205653.71,3642.7662,N,-12155.2282,W,1,03,00.5,071.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205654.71,3642.7668,N,-12155.2274,W,1,03,00.5,072.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205655.71,3642.7674,N,-12155.2266,W,1,03,00.5,072.0,M,-99.9,M,,*40 : TerrainNav update at nav time = 725.000334 : TerrainNav update at dvl time = 725.000334 : _navData-> (x,y) = (4063555.13, 596416.35) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205656.71,3642.7681,N,-12155.2259,W,1,03,00.5,071.6,M,-99.9,M,,*40 : Estimated North Bias at time = 725.00 : -0.66 : Estimated East Bias at time = 725.00 : 2.22 : Estimated Depth Bias at time = 725.00 : -0.05 : Estimated northing and easting = 4063554.47 : 596418.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205657.71,3642.7687,N,-12155.2252,W,1,03,00.5,072.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205659.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205658.71,3642.7694,N,-12155.2244,W,1,03,00.5,071.6,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.53 5.12 16.40 3.80 3.84 0 -9337.65 06:00:37 m : AshtechGps::processRecord() - $GPGGA,205700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205659.71,3642.7701,N,-12155.2237,W,1,03,00.5,071.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205700.71,3642.7709,N,-12155.2229,W,1,03,00.5,071.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 729.999992 : TerrainNav update at dvl time = 729.999992 : _navData-> (x,y) = (4063561.49, 596421.86) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 3.95 17.87 3.73 3.85 0 9212.72 06:00:40 m : AshtechGps::processRecord() - $GPGGA,205702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205701.71,3642.7716,N,-12155.2221,W,1,03,00.5,071.8,M,-99.9,M,,*4d : Estimated North Bias at time = 730.00 : -1.30 : Estimated East Bias at time = 730.00 : 2.16 : Estimated Depth Bias at time = 730.00 : -0.05 : Estimated northing and easting = 4063560.19 : 596424.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205702.71,3642.7724,N,-12155.2214,W,1,03,00.5,071.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205703.71,3642.7731,N,-12155.2206,W,1,03,00.5,070.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205704.71,3642.7738,N,-12155.2199,W,1,03,00.5,072.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205705.71,3642.7744,N,-12155.2191,W,1,03,00.5,071.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 734.999649 : TerrainNav update at dvl time = 734.999649 : _navData-> (x,y) = (4063568.12, 596427.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205706.71,3642.7750,N,-12155.2183,W,1,03,00.5,070.8,M,-99.9,M,,*42 : Estimated North Bias at time = 735.00 : -0.84 : Estimated East Bias at time = 735.00 : 2.16 : Estimated Depth Bias at time = 735.00 : -0.05 : Estimated northing and easting = 4063567.29 : 596429.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205708.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205707.70,3642.7756,N,-12155.2176,W,1,03,00.5,071.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205708.70,3642.7762,N,-12155.2170,W,1,03,00.5,071.2,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.57 5.53 16.40 3.79 3.84 0 -9338.00 06:00:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205709.70,3642.7769,N,-12155.2163,W,1,03,00.5,071.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205711.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205710.70,3642.7776,N,-12155.2156,W,1,03,00.5,071.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 739.999307 : TerrainNav update at dvl time = 739.999307 : _navData-> (x,y) = (4063574.10, 596432.63) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.52 17.87 3.73 3.85 0 9212.43 06:00:50 m : AshtechGps::processRecord() - $GPGGA,205712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205711.70,3642.7783,N,-12155.2148,W,1,03,00.5,072.0,M,-99.9,M,,*46 : Estimated North Bias at time = 740.00 : -1.16 : Estimated East Bias at time = 740.00 : 2.48 : Estimated Depth Bias at time = 740.00 : -0.05 : Estimated northing and easting = 4063572.93 : 596435.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205712.70,3642.7791,N,-12155.2140,W,1,03,00.5,072.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205713.70,3642.7798,N,-12155.2131,W,1,03,00.5,071.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205714.70,3642.7804,N,-12155.2123,W,1,03,00.5,071.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205715.70,3642.7811,N,-12155.2115,W,1,03,00.5,071.5,M,-99.9,M,,*48 : TerrainNav update at nav time = 744.998964 : TerrainNav update at dvl time = 744.998964 : _navData-> (x,y) = (4063580.67, 596438.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205716.70,3642.7818,N,-12155.2108,W,1,03,00.5,071.3,M,-99.9,M,,*48 : Estimated North Bias at time = 745.00 : -1.05 : Estimated East Bias at time = 745.00 : 1.82 : Estimated Depth Bias at time = 745.00 : -0.05 : Estimated northing and easting = 4063579.62 : 596440.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205718.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205717.70,3642.7824,N,-12155.2102,W,1,03,00.5,072.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205719.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205718.70,3642.7831,N,-12155.2095,W,1,03,00.5,070.8,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.57 5.01 16.40 3.79 3.84 0 -9338.53 06:00:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205719.70,3642.7838,N,-12155.2088,W,1,03,00.5,071.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205720.70,3642.7844,N,-12155.2081,W,1,03,00.5,071.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 749.998622 : TerrainNav update at dvl time = 749.998622 : _navData-> (x,y) = (4063586.87, 596443.53) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.64 17.96 3.73 3.85 0 9211.97 06:01:00 m : AshtechGps::processRecord() - $GPGGA,205722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205721.70,3642.7851,N,-12155.2074,W,1,03,00.5,071.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 750.00 : -0.99 : Estimated East Bias at time = 750.00 : 2.40 : Estimated Depth Bias at time = 750.00 : -0.05 : Estimated northing and easting = 4063585.88 : 596445.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205722.70,3642.7858,N,-12155.2066,W,1,03,00.5,071.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205723.70,3642.7864,N,-12155.2058,W,1,03,00.5,071.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205724.70,3642.7871,N,-12155.2050,W,1,03,00.5,072.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205725.70,3642.7877,N,-12155.2042,W,1,03,00.5,072.3,M,-99.9,M,,*4d : TerrainNav update at nav time = 754.998279 : TerrainNav update at dvl time = 754.998279 : _navData-> (x,y) = (4063593.02, 596449.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205726.70,3642.7884,N,-12155.2034,W,1,03,00.5,071.5,M,-99.9,M,,*46 : Estimated North Bias at time = 755.00 : -0.87 : Estimated East Bias at time = 755.00 : 1.97 : Estimated Depth Bias at time = 755.00 : -0.05 : Estimated northing and easting = 4063592.15 : 596451.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205728.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205727.70,3642.7891,N,-12155.2027,W,1,03,00.5,072.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205729.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205728.70,3642.7898,N,-12155.2020,W,1,03,00.5,071.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.57 4.82 16.40 3.79 3.84 0 -9338.90 06:01:07 m : AshtechGps::processRecord() - $GPGGA,205730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205729.70,3642.7905,N,-12155.2014,W,1,03,00.5,071.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205731.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205730.70,3642.7912,N,-12155.2007,W,1,03,00.5,071.4,M,-99.9,M,,*4e : TerrainNav update at nav time = 759.997937 : TerrainNav update at dvl time = 759.997937 : _navData-> (x,y) = (4063599.46, 596454.48) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.94 17.87 3.73 3.85 0 9211.66 06:01:10 m : AshtechGps::processRecord() - $GPGGA,205732.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205731.70,3642.7919,N,-12155.2000,W,1,03,00.5,070.8,M,-99.9,M,,*4e : Estimated North Bias at time = 760.00 : -1.12 : Estimated East Bias at time = 760.00 : 2.70 : Estimated Depth Bias at time = 760.00 : -0.05 : Estimated northing and easting = 4063598.33 : 596457.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205733.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205732.70,3642.7926,N,-12155.1993,W,1,03,00.5,072.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205734.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205733.70,3642.7932,N,-12155.1985,W,1,03,00.5,071.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205734.70,3642.7938,N,-12155.1977,W,1,03,00.5,072.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,205736.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205735.70,3642.7945,N,-12155.1969,W,1,03,00.5,072.0,M,-99.9,M,,*4c : TerrainNav update at nav time = 764.997594 : TerrainNav update at dvl time = 764.997594 : _navData-> (x,y) = (4063605.57, 596460.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205736.70,3642.7951,N,-12155.1962,W,1,03,00.5,071.6,M,-99.9,M,,*44 : Estimated North Bias at time = 765.00 : -0.64 : Estimated East Bias at time = 765.00 : 2.01 : Estimated Depth Bias at time = 765.00 : -0.05 : Estimated northing and easting = 4063604.93 : 596462.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205738.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205737.70,3642.7957,N,-12155.1955,W,1,03,00.5,072.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205739.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205738.70,3642.7964,N,-12155.1948,W,1,03,00.5,072.3,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.57 4.86 16.40 3.79 3.84 0 -9339.43 06:01:17 m : AshtechGps::processRecord() - $GPGGA,205740.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205739.70,3642.7971,N,-12155.1941,W,1,03,00.5,072.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205741.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205740.70,3642.7979,N,-12155.1933,W,1,03,00.5,072.3,M,-99.9,M,,*4d : TerrainNav update at nav time = 769.997252 : TerrainNav update at dvl time = 769.997252 : _navData-> (x,y) = (4063611.91, 596465.29) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.37 17.87 3.73 3.84 0 9211.22 06:01:20 m : AshtechGps::processRecord() - $GPGGA,205742.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205741.70,3642.7985,N,-12155.1926,W,1,03,00.5,070.8,M,-99.9,M,,*42 : Estimated North Bias at time = 770.00 : -1.13 : Estimated East Bias at time = 770.00 : 2.29 : Estimated Depth Bias at time = 770.00 : -0.05 : Estimated northing and easting = 4063610.78 : 596467.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205743.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205742.70,3642.7992,N,-12155.1919,W,1,03,00.5,071.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205743.70,3642.7999,N,-12155.1912,W,1,03,00.5,071.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205745.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205744.70,3642.8005,N,-12155.1905,W,1,03,00.5,071.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205746.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205745.70,3642.8012,N,-12155.1898,W,1,03,00.5,072.2,M,-99.9,M,,*42 : TerrainNav update at nav time = 774.996909 : TerrainNav update at dvl time = 774.996909 : _navData-> (x,y) = (4063618.11, 596470.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205747.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205746.70,3642.8019,N,-12155.1889,W,1,03,00.5,070.9,M,-99.9,M,,*43 : Estimated North Bias at time = 775.00 : -0.73 : Estimated East Bias at time = 775.00 : 2.39 : Estimated Depth Bias at time = 775.00 : -0.05 : Estimated northing and easting = 4063617.37 : 596472.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205748.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205747.70,3642.8025,N,-12155.1881,W,1,03,00.5,072.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205749.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205748.70,3642.8032,N,-12155.1872,W,1,03,00.5,071.6,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.57 4.97 16.50 3.79 3.84 0 -9339.79 06:01:27 m : AshtechGps::processRecord() - $GPGGA,205750.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205749.70,3642.8039,N,-12155.1864,W,1,03,00.5,071.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205750.70,3642.8045,N,-12155.1858,W,1,03,00.5,071.0,M,-99.9,M,,*49 : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4063624.41, 596476.39) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.44 17.87 3.73 3.84 0 9210.93 06:01:30 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205752.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205751.70,3642.8052,N,-12155.1852,W,1,03,00.5,070.8,M,-99.9,M,,*4d : Estimated North Bias at time = 780.00 : -0.68 : Estimated East Bias at time = 780.00 : 2.61 : Estimated Depth Bias at time = 780.00 : -0.05 : Estimated northing and easting = 4063623.73 : 596479.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205753.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205752.70,3642.8059,N,-12155.1846,W,1,03,00.5,071.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205753.70,3642.8066,N,-12155.1840,W,1,03,00.5,071.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205754.70,3642.8073,N,-12155.1832,W,1,03,00.5,071.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205756.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205755.70,3642.8079,N,-12155.1823,W,1,03,00.5,073.0,M,-99.9,M,,*4d : TerrainNav update at nav time = 784.996224 : TerrainNav update at dvl time = 784.996224 : _navData-> (x,y) = (4063630.75, 596481.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205757.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205756.70,3642.8086,N,-12155.1814,W,1,03,00.5,071.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 785.00 : -1.02 : Estimated East Bias at time = 785.00 : 1.82 : Estimated Depth Bias at time = 785.00 : -0.05 : Estimated northing and easting = 4063629.73 : 596483.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205757.70,3642.8092,N,-12155.1806,W,1,03,00.5,071.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205759.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205758.70,3642.8098,N,-12155.1798,W,1,03,00.5,071.9,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.57 5.01 16.40 3.79 3.84 0 -9340.32 06:01:37 m : AshtechGps::processRecord() - $GPGGA,205800.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205759.70,3642.8105,N,-12155.1791,W,1,03,00.5,071.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205800.70,3642.8111,N,-12155.1785,W,1,03,00.5,071.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 789.995882 : TerrainNav update at dvl time = 789.995882 : _navData-> (x,y) = (4063636.72, 596487.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.67 4.18 17.96 3.73 3.84 0 9210.51 06:01:40 m : AshtechGps::processRecord() - $GPGGA,205802.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205801.70,3642.8119,N,-12155.1778,W,1,03,00.5,072.1,M,-99.9,M,,*45 : Estimated North Bias at time = 790.00 : -0.68 : Estimated East Bias at time = 790.00 : 2.62 : Estimated Depth Bias at time = 790.00 : -0.05 : Estimated northing and easting = 4063636.04 : 596489.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205802.70,3642.8126,N,-12155.1772,W,1,03,00.5,070.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205803.70,3642.8133,N,-12155.1765,W,1,03,00.5,071.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205804.70,3642.8141,N,-12155.1757,W,1,03,00.5,071.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205805.70,3642.8147,N,-12155.1749,W,1,03,00.5,072.7,M,-99.9,M,,*4e : TerrainNav update at nav time = 794.995539 : TerrainNav update at dvl time = 794.995539 : _navData-> (x,y) = (4063643.36, 596492.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205806.70,3642.8153,N,-12155.1741,W,1,03,00.5,071.1,M,-99.9,M,,*45 : Estimated North Bias at time = 795.00 : -0.77 : Estimated East Bias at time = 795.00 : 1.94 : Estimated Depth Bias at time = 795.00 : -0.05 : Estimated northing and easting = 4063642.59 : 596494.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 840.592416) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 840.592416) Behavior ascend:-1 has changed to state Active : NMEA Update: $GPGGA,205807.70,3642.8158,N,-12155.1733,W,1,03,00.5,071.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205809.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205808.70,3642.8164,N,-12155.1725,W,1,03,00.5,071.2,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.57 4.89 16.40 3.79 3.84 0 -9340.69 06:01:47 m : AshtechGps::processRecord() - $GPGGA,205810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205809.70,3642.8171,N,-12155.1719,W,1,03,00.5,071.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205811.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205810.70,3642.8178,N,-12155.1712,W,1,03,00.5,070.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 799.995197 : TerrainNav update at dvl time = 799.995197 : _navData-> (x,y) = (4063649.11, 596497.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.18 17.87 3.73 3.84 0 9210.23 06:01:50 m : AshtechGps::processRecord() - $GPGGA,205812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205811.70,3642.8185,N,-12155.1706,W,1,03,00.5,071.8,M,-99.9,M,,*42 : Estimated North Bias at time = 800.00 : -0.89 : Estimated East Bias at time = 800.00 : 2.61 : Estimated Depth Bias at time = 800.00 : -0.05 : Estimated northing and easting = 4063648.22 : 596500.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205813.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205812.70,3642.8193,N,-12155.1700,W,1,03,00.5,071.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205813.70,3642.8200,N,-12155.1692,W,1,03,00.5,070.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205814.70,3642.8206,N,-12155.1684,W,1,03,00.5,072.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205815.70,3642.8212,N,-12155.1675,W,1,03,00.5,072.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 804.994854 : TerrainNav update at dvl time = 804.994854 : _navData-> (x,y) = (4063655.59, 596503.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205816.70,3642.8218,N,-12155.1666,W,1,03,00.5,072.1,M,-99.9,M,,*4f : Estimated North Bias at time = 804.99 : -0.58 : Estimated East Bias at time = 804.99 : 1.49 : Estimated Depth Bias at time = 804.99 : -0.05 : Estimated northing and easting = 4063655.01 : 596504.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205818.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205817.70,3642.8224,N,-12155.1657,W,1,03,00.5,072.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205818.70,3642.8230,N,-12155.1650,W,1,03,00.5,072.3,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.57 5.26 16.40 3.79 3.84 0 -9341.21 06:01:57 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205820.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205819.71,3642.8236,N,-12155.1643,W,1,03,00.5,072.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205821.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205820.71,3642.8243,N,-12155.1636,W,1,03,00.5,071.8,M,-99.9,M,,*4a : TerrainNav update at nav time = 809.994512 : TerrainNav update at dvl time = 809.994512 : _navData-> (x,y) = (4063661.31, 596508.96) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.48 17.87 3.73 3.84 0 9209.78 06:02:00 m : AshtechGps::processRecord() - $GPGGA,205822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205821.71,3642.8250,N,-12155.1631,W,1,03,00.5,072.5,M,-99.9,M,,*40 : Estimated North Bias at time = 809.99 : -0.87 : Estimated East Bias at time = 809.99 : 2.53 : Estimated Depth Bias at time = 809.99 : -0.05 : Estimated northing and easting = 4063660.44 : 596511.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205823.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205822.71,3642.8257,N,-12155.1625,W,1,03,00.5,073.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205823.71,3642.8263,N,-12155.1618,W,1,03,00.5,073.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205824.71,3642.8270,N,-12155.1610,W,1,03,00.5,073.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205826.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205825.71,3642.8277,N,-12155.1601,W,1,03,00.5,073.4,M,-99.9,M,,*42 : TerrainNav update at nav time = 814.994169 : TerrainNav update at dvl time = 814.994169 : _navData-> (x,y) = (4063667.65, 596514.09) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205827.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205826.71,3642.8284,N,-12155.1593,W,1,03,00.5,074.4,M,-99.9,M,,*42 : Estimated North Bias at time = 814.99 : -0.83 : Estimated East Bias at time = 814.99 : 1.71 : Estimated Depth Bias at time = 814.99 : -0.05 : Estimated northing and easting = 4063666.82 : 596515.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205828.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205827.71,3642.8292,N,-12155.1585,W,1,03,00.5,073.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205829.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205828.71,3642.8299,N,-12155.1577,W,1,03,00.5,073.7,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.53 5.34 16.40 3.79 3.83 0 -9341.59 06:02:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205829.71,3642.8305,N,-12155.1569,W,1,03,00.5,074.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205830.71,3642.8311,N,-12155.1561,W,1,03,00.5,074.5,M,-99.9,M,,*44 : TerrainNav update at nav time = 819.993827 : TerrainNav update at dvl time = 819.993827 : _navData-> (x,y) = (4063673.98, 596520.10) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.52 17.87 3.73 3.84 0 9209.50 06:02:10 m : AshtechGps::processRecord() - $GPGGA,205832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205831.71,3642.8317,N,-12155.1552,W,1,03,00.5,075.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 819.99 : -0.70 : Estimated East Bias at time = 819.99 : 2.14 : Estimated Depth Bias at time = 819.99 : -0.05 : Estimated northing and easting = 4063673.28 : 596522.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205832.71,3642.8322,N,-12155.1544,W,1,03,00.5,075.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205834.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205833.71,3642.8329,N,-12155.1538,W,1,03,00.5,075.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205834.71,3642.8336,N,-12155.1532,W,1,03,00.5,074.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,205836.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205835.71,3642.8343,N,-12155.1525,W,1,03,00.5,074.8,M,-99.9,M,,*4b : TerrainNav update at nav time = 824.993484 : TerrainNav update at dvl time = 824.993484 : _navData-> (x,y) = (4063679.97, 596525.27) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205837.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205836.71,3642.8350,N,-12155.1519,W,1,03,00.5,075.0,M,-99.9,M,,*4c : Estimated North Bias at time = 824.99 : -1.37 : Estimated East Bias at time = 824.99 : 3.24 : Estimated Depth Bias at time = 824.99 : -0.05 : Estimated northing and easting = 4063678.59 : 596528.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205837.71,3642.8357,N,-12155.1511,W,1,03,00.5,076.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205839.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205838.71,3642.8364,N,-12155.1501,W,1,03,00.5,075.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.49 5.53 16.40 3.79 3.83 0 -9342.19 06:02:17 m : AshtechGps::processRecord() - $GPGGA,205840.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205839.71,3642.8371,N,-12155.1491,W,1,03,00.5,077.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205841.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205840.71,3642.8378,N,-12155.1481,W,1,03,00.5,075.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 829.993142 : TerrainNav update at dvl time = 829.993142 : _navData-> (x,y) = (4063686.48, 596531.77) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.41 17.96 3.73 3.85 0 9209.08 06:02:20 m : AshtechGps::processRecord() - $GPGGA,205842.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205841.71,3642.8384,N,-12155.1473,W,1,03,00.5,075.7,M,-99.9,M,,*4f : Estimated North Bias at time = 829.99 : -1.12 : Estimated East Bias at time = 829.99 : 1.53 : Estimated Depth Bias at time = 829.99 : -0.05 : Estimated northing and easting = 4063685.35 : 596533.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205843.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205842.71,3642.8391,N,-12155.1466,W,1,03,00.5,077.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205844.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205843.71,3642.8397,N,-12155.1461,W,1,03,00.5,076.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205844.71,3642.8403,N,-12155.1455,W,1,03,00.5,077.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205846.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205845.71,3642.8408,N,-12155.1447,W,1,03,00.5,077.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 835.002799 : TerrainNav update at dvl time = 835.002799 : _navData-> (x,y) = (4063692.21, 596536.83) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205847.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205846.71,3642.8415,N,-12155.1438,W,1,03,00.5,077.4,M,-99.9,M,,*49 : Estimated North Bias at time = 835.00 : -0.60 : Estimated East Bias at time = 835.00 : 3.08 : Estimated Depth Bias at time = 835.00 : -0.05 : Estimated northing and easting = 4063691.61 : 596539.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205848.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205847.71,3642.8422,N,-12155.1427,W,1,03,00.5,077.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205849.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205848.71,3642.8429,N,-12155.1417,W,1,03,00.5,078.4,M,-99.9,M,,*4a : BluefinBatt Reply: $aaq0 d- 30.57 5.01 16.40 3.79 3.84 0 -9342.54 06:02:27 m : AshtechGps::processRecord() - $GPGGA,205850.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205849.71,3642.8437,N,-12155.1409,W,1,03,00.5,076.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205851.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205850.71,3642.8444,N,-12155.1403,W,1,03,00.5,078.1,M,-99.9,M,,*48 : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4063698.93, 596543.33) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.79 17.96 3.73 3.85 0 9208.79 06:02:30 m : AshtechGps::processRecord() - $GPGGA,205852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=0.79 speedMode=1 speed=1.50 : LayeredControl::execute() -- (t = 884.799387) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 884.799387) Behavior getgps:-1 has changed to state Active : NMEA Update: $GPGGA,205851.71,3642.8451,N,-12155.1397,W,1,03,00.5,078.0,M,-99.9,M,,*46 : Estimated North Bias at time = 840.00 : -1.58 : Estimated East Bias at time = 840.00 : 2.67 : Estimated Depth Bias at time = 840.00 : -0.05 : Estimated northing and easting = 4063697.35 : 596546.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205853.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205852.71,3642.8457,N,-12155.1390,W,1,03,00.5,078.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205854.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205853.71,3642.8463,N,-12155.1382,W,1,03,00.5,077.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205855.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205854.71,3642.8469,N,-12155.1373,W,1,03,00.5,079.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,205856.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205855.71,3642.8475,N,-12155.1364,W,1,03,00.5,079.2,M,-99.9,M,,*4b : TerrainNav update at nav time = 845.002114 : TerrainNav update at dvl time = 845.002114 : _navData-> (x,y) = (4063704.60, 596549.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205857.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205856.71,3642.8480,N,-12155.1358,W,1,03,00.5,080.8,M,-99.9,M,,*41 : Estimated North Bias at time = 845.00 : -0.12 : Estimated East Bias at time = 845.00 : 0.99 : Estimated Depth Bias at time = 845.00 : -0.05 : Estimated northing and easting = 4063704.48 : 596549.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205858.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205857.71,3642.8487,N,-12155.1354,W,1,03,00.5,078.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205858.71,3642.8494,N,-12155.1350,W,1,03,00.5,078.3,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.68 1.85 16.40 3.79 3.84 0 -9342.92 06:02:37 m : AshtechGps::processRecord() - $GPGGA,205900.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205859.71,3642.8501,N,-12155.1346,W,1,03,00.5,079.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205901.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205900.71,3642.8508,N,-12155.1345,W,1,03,00.5,079.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 850.001771 : TerrainNav update at dvl time = 850.001771 : _navData-> (x,y) = (4063710.78, 596551.77) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.82 0.98 17.87 3.75 3.86 0 9208.57 06:02:40 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205902.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205901.71,3642.8514,N,-12155.1344,W,1,03,00.5,078.7,M,-99.9,M,,*4b : Estimated North Bias at time = 850.00 : -1.51 : Estimated East Bias at time = 850.00 : 3.47 : Estimated Depth Bias at time = 850.00 : -0.05 : Estimated northing and easting = 4063709.28 : 596555.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,205903.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205902.71,3642.8519,N,-12155.1343,W,1,03,00.5,079.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205904.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205903.71,3642.8523,N,-12155.1341,W,1,03,00.5,079.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205905.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205904.71,3642.8527,N,-12155.1339,W,1,03,00.5,079.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205906.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205905.71,3642.8530,N,-12155.1337,W,1,03,00.5,079.9,M,-99.9,M,,*42 : TerrainNav update at nav time = 855.001429 : TerrainNav update at dvl time = 855.001429 : _navData-> (x,y) = (4063714.88, 596552.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205907.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205906.71,3642.8533,N,-12155.1336,W,1,03,00.5,080.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 855.00 : 0.18 : Estimated East Bias at time = 855.00 : 3.20 : Estimated Depth Bias at time = 855.00 : -0.05 : Estimated northing and easting = 4063715.06 : 596556.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205908.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205907.71,3642.8536,N,-12155.1337,W,1,03,00.5,079.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205909.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205908.71,3642.8539,N,-12155.1340,W,1,03,00.5,078.2,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.68 2.52 16.40 3.82 3.86 0 -9343.04 06:02:47 m : AshtechGps::processRecord() - $GPGGA,205910.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205909.71,3642.8543,N,-12155.1343,W,1,03,00.5,077.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205911.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205910.71,3642.8547,N,-12155.1345,W,1,03,00.5,078.9,M,-99.9,M,,*42 : TerrainNav update at nav time = 860.001086 : TerrainNav update at dvl time = 860.001086 : _navData-> (x,y) = (4063717.91, 596551.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 30.86 0.98 17.87 3.75 3.86 0 9208.45 06:02:50 m : AshtechGps::processRecord() - $GPGGA,205912.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205911.71,3642.8549,N,-12155.1347,W,1,03,00.5,080.3,M,-99.9,M,,*42 : Estimated North Bias at time = 860.00 : 0.48 : Estimated East Bias at time = 860.00 : 5.32 : Estimated Depth Bias at time = 860.00 : -0.05 : Estimated northing and easting = 4063718.39 : 596556.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.785000 : AshtechGps::processRecord() - $GPGGA,205913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205912.71,3642.8551,N,-12155.1348,W,1,03,00.5,079.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,205914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205913.71,3642.8553,N,-12155.1348,W,1,03,00.5,080.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205915.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205914.71,3642.8554,N,-12155.1348,W,1,03,00.5,078.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205916.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205915.71,3642.8555,N,-12155.1347,W,1,03,00.5,080.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 865.000743 : TerrainNav update at dvl time = 865.000743 : _navData-> (x,y) = (4063719.42, 596551.32) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,205917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205916.71,3642.8556,N,-12155.1348,W,1,03,00.5,078.8,M,-99.9,M,,*48 : Estimated North Bias at time = 865.00 : 1.68 : Estimated East Bias at time = 865.00 : 4.35 : Estimated Depth Bias at time = 865.00 : -0.05 : Estimated northing and easting = 4063721.10 : 596555.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205918.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205917.71,3642.8558,N,-12155.1349,W,1,03,00.5,081.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205919.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205918.71,3642.8559,N,-12155.1351,W,1,03,00.5,080.7,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.72 1.78 16.40 3.82 3.86 0 -9343.24 06:02:57 m : AshtechGps::processRecord() - $GPGGA,205920.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205919.71,3642.8560,N,-12155.1353,W,1,03,00.5,078.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,205921.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205920.71,3642.8562,N,-12155.1353,W,1,03,00.5,080.9,M,-99.9,M,,*46 : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4063720.68, 596550.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 30.82 1.32 17.87 3.76 3.87 0 9208.34 06:03:00 m : AshtechGps::processRecord() - $GPGGA,205922.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,205921.71,3642.8561,N,-12155.1353,W,1,03,00.5,077.6,M,-99.9,M,,*43 : Estimated North Bias at time = 870.00 : 0.94 : Estimated East Bias at time = 870.00 : 5.49 : Estimated Depth Bias at time = 870.00 : -0.05 : Estimated northing and easting = 4063721.62 : 596555.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.760000, mean min cell voltage 3.790000 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205923.00,3642.89740,N,12155.19997,W,1,03,5.9,-7.99,M,-32.59,M,,*78 : AshtechGps::processRecord() - nSats = 3; setting quality to 0 (invalid) : NMEA Update: $GPGGA,205922.71,3642.8562,N,-12155.1353,W,1,03,00.5,081.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,205924.00,3642.90135,N,12155.20315,W,1,06,1.0,-4.98,M,-32.59,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205923.71,3642.9014,N,-12155.2031,W,1,03,00.5,081.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205925.00,3642.90197,N,12155.20377,W,1,05,1.2,-4.16,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,205924.71,3642.9020,N,-12155.2038,W,1,03,00.5,081.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205926.00,3642.90243,N,12155.20415,W,1,06,1.1,-3.72,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : NMEA Update: $GPGGA,205925.71,3642.9024,N,-12155.2042,W,1,03,00.5,080.8,M,-99.9,M,,*44 : TerrainNav update at nav time = 875.000058 : TerrainNav update at dvl time = 875.000058 : _navData-> (x,y) = (4063805.10, 596447.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 875.00 : 0.95 : Estimated East Bias at time = 875.00 : 5.48 : Estimated Depth Bias at time = 875.00 : -0.05 : Estimated northing and easting = 4063806.05 : 596452.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205927.00,3642.90224,N,12155.20389,W,1,10,0.8,-4.11,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205926.71,3642.9023,N,-12155.2039,W,1,03,00.5,079.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,205928.00,3642.90266,N,12155.20376,W,1,10,0.8,-3.08,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : NMEA Update: $GPGGA,205927.71,3642.9027,N,-12155.2038,W,1,03,00.5,080.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205929.00,3642.90336,N,12155.20378,W,1,09,0.9,-3.56,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,205928.71,3642.9034,N,-12155.2037,W,1,03,00.5,078.4,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.72 1.89 16.40 3.82 3.86 0 -9343.36 06:03:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,205930.00,3642.90313,N,12155.20341,W,1,10,0.8,-4.29,M,-32.59,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : NMEA Update: $GPGGA,205929.71,3642.9032,N,-12155.2034,W,1,03,00.5,080.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205931.00,3642.90323,N,12155.20329,W,1,10,0.8,-5.45,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,205930.71,3642.9032,N,-12155.2033,W,1,03,00.5,080.2,M,-99.9,M,,*4b : TerrainNav update at nav time = 879.999716 : TerrainNav update at dvl time = 879.999716 : _navData-> (x,y) = (4063806.59, 596448.27) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 880.00 : 0.93 : Estimated East Bias at time = 880.00 : 5.48 : Estimated Depth Bias at time = 880.00 : -0.05 : Estimated northing and easting = 4063807.53 : 596453.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.86 0.68 17.87 3.76 3.87 0 9208.27 06:03:10 m : AshtechGps::processRecord() - $GPGGA,205932.00,3642.90297,N,12155.20345,W,1,11,0.8,-5.93,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,205931.71,3642.9030,N,-12155.2035,W,1,03,00.5,079.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : batts online 2, min cell voltage 3.760000, mean min cell voltage 3.790000 : AshtechGps::processRecord() - $GPGGA,205933.00,3642.90298,N,12155.20368,W,1,11,0.8,-5.83,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 925.596592) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 925.596592) Behavior descend:-1 has changed to state Active : NMEA Update: $GPGGA,205932.71,3642.9030,N,-12155.2037,W,1,03,00.5,078.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205934.00,3642.90306,N,12155.20369,W,1,11,0.8,-5.54,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205933.70,3642.9031,N,-12155.2037,W,1,03,00.5,079.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205935.00,3642.90327,N,12155.20346,W,1,11,0.8,-5.14,M,-32.59,M,,*7E : NMEA Update: $GPGGA,205934.70,3642.9033,N,-12155.2034,W,1,03,00.5,079.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205936.00,3642.90336,N,12155.20323,W,1,10,0.9,-4.92,M,-32.59,M,,*71 : NMEA Update: $GPGGA,205935.70,3642.9034,N,-12155.2032,W,1,03,00.5,081.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 884.999373 : TerrainNav update at dvl time = 884.999373 : _navData-> (x,y) = (4063806.89, 596448.44) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 885.00 : 0.94 : Estimated East Bias at time = 885.00 : 5.46 : Estimated Depth Bias at time = 885.00 : -0.05 : Estimated northing and easting = 4063807.84 : 596453.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205937.00,3642.90346,N,12155.20309,W,1,10,0.9,-5.26,M,-32.59,M,,*71 : NMEA Update: $GPGGA,205936.70,3642.9035,N,-12155.2031,W,1,03,00.5,081.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,205938.00,3642.90357,N,12155.20299,W,1,10,0.9,-5.72,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205937.70,3642.9036,N,-12155.2030,W,1,03,00.5,080.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,205939.00,3642.90361,N,12155.20321,W,1,10,0.9,-6.15,M,-32.59,M,,*73 : NMEA Update: $GPGGA,205938.70,3642.9036,N,-12155.2032,W,1,03,00.5,082.0,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.49 5.64 16.40 3.82 3.86 0 -9343.61 06:03:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205940.00,3642.90387,N,12155.20360,W,1,10,0.9,-6.31,M,-32.59,M,,*76 : NMEA Update: $GPGGA,205939.70,3642.9039,N,-12155.2037,W,1,03,00.5,080.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,205941.00,3642.90389,N,12155.20382,W,1,11,0.8,-6.10,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205940.70,3642.9039,N,-12155.2039,W,1,03,00.5,078.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 889.999031 : TerrainNav update at dvl time = 889.999031 : _navData-> (x,y) = (4063807.78, 596447.44) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 890.00 : 0.93 : Estimated East Bias at time = 890.00 : 5.46 : Estimated Depth Bias at time = 890.00 : -0.05 : Estimated northing and easting = 4063808.71 : 596452.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.60 17.87 3.73 3.85 0 9207.96 06:03:20 m : AshtechGps::processRecord() - $GPGGA,205942.00,3642.90421,N,12155.20417,W,1,11,0.8,-6.23,M,-32.59,M,,*7B : NMEA Update: $GPGGA,205941.70,3642.9042,N,-12155.2042,W,1,03,00.5,081.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,205943.00,3642.90418,N,12155.20442,W,1,11,0.8,-5.91,M,-32.59,M,,*7A : NMEA Update: $GPGGA,205942.70,3642.9042,N,-12155.2045,W,1,03,00.5,080.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205944.00,3642.90424,N,12155.20461,W,1,11,0.8,-5.98,M,-32.59,M,,*7A : NMEA Update: $GPGGA,205943.70,3642.9042,N,-12155.2046,W,1,03,00.5,078.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,205945.00,3642.90420,N,12155.20486,W,1,11,0.8,-5.87,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205944.70,3642.9042,N,-12155.2049,W,1,03,00.5,080.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205946.00,3642.90431,N,12155.20519,W,1,11,0.8,-5.60,M,-32.59,M,,*75 : NMEA Update: $GPGGA,205945.70,3642.9043,N,-12155.2053,W,1,03,00.5,080.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 894.998688 : TerrainNav update at dvl time = 894.998688 : _navData-> (x,y) = (4063808.50, 596445.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 895.00 : 0.93 : Estimated East Bias at time = 895.00 : 5.46 : Estimated Depth Bias at time = 895.00 : -0.05 : Estimated northing and easting = 4063809.43 : 596450.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205947.00,3642.90421,N,12155.20530,W,1,11,0.8,-5.32,M,-32.59,M,,*79 : NMEA Update: $GPGGA,205946.70,3642.9042,N,-12155.2053,W,1,03,00.5,079.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205948.00,3642.90419,N,12155.20546,W,1,11,0.8,-5.39,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205947.70,3642.9042,N,-12155.2054,W,1,03,00.5,080.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,205949.00,3642.90391,N,12155.20538,W,1,11,0.8,-5.57,M,-32.59,M,,*70 : NMEA Update: $GPGGA,205948.70,3642.9039,N,-12155.2053,W,1,03,00.5,081.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.57 4.37 16.40 3.79 3.83 0 -9343.95 06:03:27 m : AshtechGps::processRecord() - $GPGGA,205950.00,3642.90380,N,12155.20574,W,1,11,0.8,-5.97,M,-32.59,M,,*7C : NMEA Update: $GPGGA,205949.70,3642.9037,N,-12155.2057,W,1,03,00.5,076.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205951.00,3642.90350,N,12155.20593,W,1,11,0.8,-6.44,M,-32.59,M,,*74 : NMEA Update: $GPGGA,205950.70,3642.9034,N,-12155.2059,W,1,03,00.5,074.3,M,-99.9,M,,*4c : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4063806.88, 596444.35) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 900.00 : 0.92 : Estimated East Bias at time = 900.00 : 5.53 : Estimated Depth Bias at time = 900.00 : -0.05 : Estimated northing and easting = 4063807.80 : 596449.88 : BluefinBatt Reply: $b3q0 d- 30.67 4.18 17.87 3.73 3.85 0 9207.67 06:03:30 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205952.00,3642.90316,N,12155.20644,W,1,12,0.8,-5.58,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205951.70,3642.9031,N,-12155.2065,W,1,03,00.5,086.6,M,-99.9,M,,*4f : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,205953.00,3642.90277,N,12155.20664,W,1,12,0.8,-5.21,M,-32.59,M,,*7A : NMEA Update: $GPGGA,205952.70,3642.9027,N,-12155.2067,W,1,03,00.5,076.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205954.00,3642.90243,N,12155.20682,W,1,12,0.8,-4.82,M,-32.59,M,,*7A : NMEA Update: $GPGGA,205953.70,3642.9024,N,-12155.2068,W,1,03,00.5,080.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,205955.00,3642.90187,N,12155.20673,W,1,13,0.7,-5.08,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205954.70,3642.9018,N,-12155.2066,W,1,03,00.5,079.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,205956.00,3642.90149,N,12155.20676,W,1,13,0.7,-5.28,M,-32.59,M,,*75 : NMEA Update: $GPGGA,205955.70,3642.9014,N,-12155.2067,W,1,03,00.5,079.3,M,-99.9,M,,*4b : TerrainNav update at nav time = 904.998003 : TerrainNav update at dvl time = 904.998003 : _navData-> (x,y) = (4063803.20, 596443.25) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 905.00 : 0.92 : Estimated East Bias at time = 905.00 : 5.53 : Estimated Depth Bias at time = 905.00 : -0.05 : Estimated northing and easting = 4063804.11 : 596448.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,205957.00,3642.90095,N,12155.20675,W,1,13,0.7,-5.51,M,-32.59,M,,*79 : NMEA Update: $GPGGA,205956.70,3642.9009,N,-12155.2067,W,1,03,00.5,080.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,205958.00,3642.90040,N,12155.20672,W,1,13,0.7,-5.70,M,-32.59,M,,*7A : NMEA Update: $GPGGA,205957.70,3642.9003,N,-12155.2066,W,1,03,00.5,080.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,205959.00,3642.89985,N,12155.20671,W,1,13,0.7,-5.41,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,205958.70,3642.8998,N,-12155.2067,W,1,03,00.5,078.8,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.49 5.67 16.40 3.79 3.83 0 -9344.48 06:03:37 m : AshtechGps::processRecord() - $GPGGA,210000.00,3642.89930,N,12155.20631,W,1,13,0.7,-5.11,M,-32.59,M,,*7C : NMEA Update: $GPGGA,205959.70,3642.8992,N,-12155.2062,W,1,03,00.5,079.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210001.00,3642.89868,N,12155.20587,W,1,13,0.7,-5.21,M,-32.59,M,,*7C : NMEA Update: $GPGGA,210000.70,3642.8986,N,-12155.2057,W,1,03,00.5,081.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 909.997661 : TerrainNav update at dvl time = 909.997661 : _navData-> (x,y) = (4063797.96, 596444.75) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 910.00 : 0.92 : Estimated East Bias at time = 910.00 : 5.50 : Estimated Depth Bias at time = 910.00 : -0.05 : Estimated northing and easting = 4063798.88 : 596450.25 : BluefinBatt Reply: $b3q0 d- 30.63 5.21 17.87 3.73 3.85 0 9207.19 06:03:40 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210002.00,3642.89822,N,12155.20536,W,1,13,0.7,-5.32,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210001.70,3642.8981,N,-12155.2052,W,1,03,00.5,080.7,M,-99.9,M,,*47 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210003.00,3642.89778,N,12155.20499,W,1,13,0.7,-5.43,M,-32.59,M,,*7A : NMEA Update: $GPGGA,210002.70,3642.8977,N,-12155.2049,W,1,03,00.5,080.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210004.00,3642.89744,N,12155.20440,W,1,13,0.7,-5.39,M,-32.59,M,,*7B : NMEA Update: $GPGGA,210003.70,3642.8974,N,-12155.2043,W,1,03,00.5,080.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210005.00,3642.89706,N,12155.20371,W,1,13,0.7,-5.43,M,-32.59,M,,*74 : NMEA Update: $GPGGA,210004.70,3642.8970,N,-12155.2036,W,1,03,00.5,080.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210006.00,3642.89678,N,12155.20294,W,1,13,0.7,-5.33,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210005.70,3642.8967,N,-12155.2028,W,1,03,00.5,080.1,M,-99.9,M,,*40 : TerrainNav update at nav time = 914.997319 : TerrainNav update at dvl time = 914.997319 : _navData-> (x,y) = (4063794.59, 596449.19) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 915.00 : 0.97 : Estimated East Bias at time = 915.00 : 5.46 : Estimated Depth Bias at time = 915.00 : -0.05 : Estimated northing and easting = 4063795.56 : 596454.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210007.00,3642.89643,N,12155.20224,W,1,13,0.7,-5.22,M,-32.59,M,,*70 : NMEA Update: $GPGGA,210006.70,3642.8964,N,-12155.2021,W,1,03,00.5,079.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210008.00,3642.89619,N,12155.20151,W,1,13,0.7,-5.29,M,-32.59,M,,*7A : NMEA Update: $GPGGA,210007.70,3642.8962,N,-12155.2014,W,1,03,00.5,080.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210009.00,3642.89598,N,12155.20062,W,1,13,0.7,-5.25,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210008.70,3642.8959,N,-12155.2005,W,1,03,00.5,079.1,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.57 4.97 16.40 3.79 3.84 0 -9344.84 06:03:47 m : AshtechGps::processRecord() - $GPGGA,210010.00,3642.89568,N,12155.19958,W,1,13,0.7,-4.68,M,-32.59,M,,*79 : NMEA Update: $GPGGA,210009.70,3642.8957,N,-12155.1994,W,1,03,00.5,080.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210011.00,3642.89547,N,12155.19858,W,1,13,0.7,-5.01,M,-32.59,M,,*7A : NMEA Update: $GPGGA,210010.70,3642.8954,N,-12155.1984,W,1,03,00.5,080.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 919.996976 : TerrainNav update at dvl time = 919.996976 : _navData-> (x,y) = (4063792.23, 596455.76) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 920.00 : 0.98 : Estimated East Bias at time = 920.00 : 5.47 : Estimated Depth Bias at time = 920.00 : -0.05 : Estimated northing and easting = 4063793.21 : 596461.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 3.99 17.87 3.73 3.85 0 9206.91 06:03:50 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210012.00,3642.89559,N,12155.19778,W,1,13,0.7,-5.49,M,-32.59,M,,*77 : NMEA Update: $GPGGA,210011.70,3642.8956,N,-12155.1976,W,1,03,00.5,081.2,M,-99.9,M,,*44 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210013.00,3642.89531,N,12155.19678,W,1,13,0.7,-4.75,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210012.70,3642.8953,N,-12155.1967,W,1,03,00.5,076.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210014.00,3642.89560,N,12155.19610,W,1,13,0.7,-5.33,M,-32.59,M,,*79 : NMEA Update: $GPGGA,210013.70,3642.8956,N,-12155.1960,W,1,03,00.5,078.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210015.00,3642.89571,N,12155.19543,W,1,13,0.7,-5.69,M,-32.59,M,,*72 : NMEA Update: $GPGGA,210014.70,3642.8957,N,-12155.1953,W,1,03,00.5,082.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210016.00,3642.89618,N,12155.19503,W,1,11,0.8,-6.71,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210015.70,3642.8962,N,-12155.1949,W,1,03,00.5,078.9,M,-99.9,M,,*46 : TerrainNav update at nav time = 924.996634 : TerrainNav update at dvl time = 924.996634 : _navData-> (x,y) = (4063793.73, 596460.96) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 925.00 : 0.97 : Estimated East Bias at time = 925.00 : 5.46 : Estimated Depth Bias at time = 925.00 : -0.05 : Estimated northing and easting = 4063794.70 : 596466.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210017.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210016.70,3642.8963,N,-12155.1948,W,1,03,00.5,077.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210018.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210017.70,3642.8966,N,-12155.1940,W,1,03,00.5,082.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 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,210018.70,3642.8968,N,-12155.1930,W,1,03,00.5,080.5,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.57 4.52 16.40 3.79 3.84 0 -9345.30 06:03:57 m : AshtechGps::processRecord() - $GPGGA,210020.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210019.70,3642.8971,N,-12155.1920,W,1,03,00.5,080.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210021.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210020.70,3642.8972,N,-12155.1910,W,1,03,00.5,080.4,M,-99.9,M,,*47 : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4063795.57, 596466.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.52 17.87 3.73 3.85 0 9206.53 06:04:00 m : AshtechGps::processRecord() - $GPGGA,210022.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210021.70,3642.8972,N,-12155.1899,W,1,03,00.5,079.2,M,-99.9,M,,*46 : Estimated North Bias at time = 930.00 : 0.67 : Estimated East Bias at time = 930.00 : 5.30 : Estimated Depth Bias at time = 930.00 : -0.05 : Estimated northing and easting = 4063796.23 : 596472.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210023.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210022.70,3642.8971,N,-12155.1889,W,1,03,00.5,078.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210024.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210023.70,3642.8972,N,-12155.1880,W,1,03,00.5,078.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210025.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210024.70,3642.8973,N,-12155.1872,W,1,03,00.5,077.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 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,210025.70,3642.8975,N,-12155.1865,W,1,03,00.5,077.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 934.995949 : TerrainNav update at dvl time = 934.995949 : _navData-> (x,y) = (4063796.30, 596473.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210027.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210026.70,3642.8978,N,-12155.1857,W,1,03,00.5,078.1,M,-99.9,M,,*4b : Estimated North Bias at time = 935.00 : 0.48 : Estimated East Bias at time = 935.00 : 6.49 : Estimated Depth Bias at time = 935.00 : -0.05 : Estimated northing and easting = 4063796.78 : 596479.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210028.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210027.70,3642.8981,N,-12155.1848,W,1,03,00.5,077.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210029.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210028.70,3642.8983,N,-12155.1837,W,1,03,00.5,078.1,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.57 5.01 16.40 3.80 3.84 0 -9345.69 06:04:07 m : AshtechGps::processRecord() - $GPGGA,210030.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210029.70,3642.8984,N,-12155.1826,W,1,03,00.5,077.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210031.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210030.70,3642.8984,N,-12155.1813,W,1,03,00.5,078.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 939.995606 : TerrainNav update at dvl time = 939.995606 : _navData-> (x,y) = (4063798.07, 596481.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 5.40 17.77 3.73 3.85 0 9206.20 06:04:10 m : AshtechGps::processRecord() - $GPGGA,210032.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210031.70,3642.8984,N,-12155.1799,W,1,03,00.5,078.4,M,-99.9,M,,*46 : Estimated North Bias at time = 940.00 : 1.45 : Estimated East Bias at time = 940.00 : 4.35 : Estimated Depth Bias at time = 940.00 : -0.05 : Estimated northing and easting = 4063799.52 : 596485.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 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,210032.70,3642.8984,N,-12155.1786,W,1,03,00.5,077.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210034.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210033.70,3642.8985,N,-12155.1774,W,1,03,00.5,076.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210035.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210034.70,3642.8987,N,-12155.1762,W,1,03,00.5,077.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210036.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210035.70,3642.8990,N,-12155.1751,W,1,03,00.5,075.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 944.995264 : TerrainNav update at dvl time = 944.995264 : _navData-> (x,y) = (4063799.13, 596490.33) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210037.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210036.70,3642.8992,N,-12155.1741,W,1,03,00.5,074.4,M,-99.9,M,,*4f : Estimated North Bias at time = 945.00 : 0.88 : Estimated East Bias at time = 945.00 : 4.90 : Estimated Depth Bias at time = 945.00 : -0.05 : Estimated northing and easting = 4063800.01 : 596495.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210038.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210037.70,3642.8993,N,-12155.1731,W,1,03,00.5,074.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210039.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210038.70,3642.8995,N,-12155.1722,W,1,03,00.5,073.3,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.53 5.67 16.50 3.80 3.84 0 -9346.24 06:04:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210040.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210039.70,3642.8995,N,-12155.1714,W,1,03,00.5,074.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210041.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210040.70,3642.8996,N,-12155.1703,W,1,03,00.5,075.7,M,-99.9,M,,*4e : TerrainNav update at nav time = 949.994921 : TerrainNav update at dvl time = 949.994921 : _navData-> (x,y) = (4063800.38, 596497.47) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.48 17.87 3.72 3.84 0 9205.72 06:04:20 m : AshtechGps::processRecord() - $GPGGA,210042.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210041.70,3642.8996,N,-12155.1691,W,1,03,00.5,076.0,M,-99.9,M,,*41 : Estimated North Bias at time = 949.99 : 1.59 : Estimated East Bias at time = 949.99 : 6.04 : Estimated Depth Bias at time = 949.99 : -0.05 : Estimated northing and easting = 4063801.97 : 596503.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210043.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210042.70,3642.8997,N,-12155.1677,W,1,03,00.5,075.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210044.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210043.70,3642.8998,N,-12155.1662,W,1,03,00.5,074.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210045.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210044.70,3642.9000,N,-12155.1649,W,1,03,00.5,073.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210046.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210045.71,3642.9002,N,-12155.1638,W,1,03,00.5,073.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 954.994579 : TerrainNav update at dvl time = 954.994579 : _navData-> (x,y) = (4063801.55, 596507.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 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,210046.71,3642.9004,N,-12155.1627,W,1,03,00.5,073.5,M,-99.9,M,,*49 : Estimated North Bias at time = 954.99 : 0.91 : Estimated East Bias at time = 954.99 : 5.32 : Estimated Depth Bias at time = 954.99 : -0.05 : Estimated northing and easting = 4063802.46 : 596512.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210048.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210047.71,3642.9005,N,-12155.1617,W,1,03,00.5,072.6,M,-99.9,M,,*48 : Descend::execute() - Descend terminating on depth 8.114072 > 8.000000 at time 1001.401399 : LayeredControl::execute() -- (t = 1001.401399) Behavior descend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1001.401399) Behavior setpoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,210049.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210048.71,3642.9007,N,-12155.1607,W,1,03,00.5,073.1,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.53 5.60 16.40 3.79 3.83 0 -9346.59 06:04:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210050.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210049.71,3642.9008,N,-12155.1596,W,1,03,00.5,073.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210051.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210050.71,3642.9009,N,-12155.1585,W,1,03,00.5,072.8,M,-99.9,M,,*44 : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4063803.00, 596515.07) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.33 17.87 3.72 3.84 0 9205.41 06:04:30 m : AshtechGps::processRecord() - $GPGGA,210052.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210051.71,3642.9010,N,-12155.1573,W,1,03,00.5,073.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 959.99 : 1.44 : Estimated East Bias at time = 959.99 : 5.39 : Estimated Depth Bias at time = 959.99 : -0.05 : Estimated northing and easting = 4063804.44 : 596520.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210053.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210052.71,3642.9010,N,-12155.1562,W,1,03,00.5,072.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 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,210053.71,3642.9011,N,-12155.1551,W,1,03,00.5,071.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210055.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210054.71,3642.9011,N,-12155.1540,W,1,03,00.5,072.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210056.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210055.71,3642.9011,N,-12155.1529,W,1,03,00.5,071.7,M,-99.9,M,,*42 : TerrainNav update at nav time = 964.993893 : TerrainNav update at dvl time = 964.993893 : _navData-> (x,y) = (4063803.51, 596523.39) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210057.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210056.71,3642.9012,N,-12155.1518,W,1,03,00.5,071.2,M,-99.9,M,,*45 : Estimated North Bias at time = 964.99 : 1.86 : Estimated East Bias at time = 964.99 : 5.45 : Estimated Depth Bias at time = 964.99 : -0.05 : Estimated northing and easting = 4063805.37 : 596528.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210058.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210057.71,3642.9013,N,-12155.1506,W,1,03,00.5,072.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210059.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210058.71,3642.9015,N,-12155.1494,W,1,03,00.5,072.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.53 5.34 16.40 3.79 3.83 0 -9347.11 06:04:37 m : AshtechGps::processRecord() - $GPGGA,210100.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210059.71,3642.9016,N,-12155.1482,W,1,03,00.5,072.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210101.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210100.71,3642.9017,N,-12155.1470,W,1,03,00.5,072.4,M,-99.9,M,,*48 : TerrainNav update at nav time = 969.993551 : TerrainNav update at dvl time = 969.993551 : _navData-> (x,y) = (4063804.75, 596532.11) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.18 17.87 3.73 3.84 0 9204.94 06:04:40 m : AshtechGps::processRecord() - $GPGGA,210102.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210101.71,3642.9018,N,-12155.1458,W,1,03,00.5,072.1,M,-99.9,M,,*49 : Estimated North Bias at time = 969.99 : 1.01 : Estimated East Bias at time = 969.99 : 5.00 : Estimated Depth Bias at time = 969.99 : -0.05 : Estimated northing and easting = 4063805.76 : 596537.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210103.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210102.71,3642.9019,N,-12155.1446,W,1,03,00.5,072.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210104.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210103.71,3642.9020,N,-12155.1435,W,1,03,00.5,071.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210105.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210104.71,3642.9020,N,-12155.1424,W,1,03,00.5,072.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210106.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210105.71,3642.9021,N,-12155.1414,W,1,03,00.5,072.6,M,-99.9,M,,*48 : TerrainNav update at nav time = 974.993208 : TerrainNav update at dvl time = 974.993208 : _navData-> (x,y) = (4063805.55, 596540.39) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210107.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210106.71,3642.9022,N,-12155.1405,W,1,03,00.5,071.5,M,-99.9,M,,*48 : Estimated North Bias at time = 974.99 : 1.31 : Estimated East Bias at time = 974.99 : 5.80 : Estimated Depth Bias at time = 974.99 : -0.05 : Estimated northing and easting = 4063806.86 : 596546.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210108.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210107.71,3642.9024,N,-12155.1395,W,1,03,00.5,071.5,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=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210108.71,3642.9026,N,-12155.1384,W,1,03,00.5,071.8,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.57 4.89 16.40 3.79 3.84 0 -9347.46 06:04:47 m : AshtechGps::processRecord() - $GPGGA,210110.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210109.71,3642.9027,N,-12155.1373,W,1,03,00.5,071.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210111.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210110.71,3642.9028,N,-12155.1361,W,1,03,00.5,071.1,M,-99.9,M,,*44 : TerrainNav update at nav time = 980.002865 : TerrainNav update at dvl time = 980.002865 : _navData-> (x,y) = (4063806.98, 596548.27) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.44 17.87 3.73 3.84 0 9204.64 06:04:50 m : AshtechGps::processRecord() - $GPGGA,210112.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210111.71,3642.9030,N,-12155.1349,W,1,03,00.5,071.7,M,-99.9,M,,*40 : Estimated North Bias at time = 980.00 : 1.05 : Estimated East Bias at time = 980.00 : 5.09 : Estimated Depth Bias at time = 980.00 : -0.05 : Estimated northing and easting = 4063808.03 : 596553.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210113.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210112.71,3642.9031,N,-12155.1336,W,1,03,00.5,071.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210114.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210113.71,3642.9032,N,-12155.1323,W,1,03,00.5,071.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210115.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210114.71,3642.9033,N,-12155.1312,W,1,03,00.5,070.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210116.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210115.71,3642.9033,N,-12155.1301,W,1,03,00.5,071.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 985.002523 : TerrainNav update at dvl time = 985.002523 : _navData-> (x,y) = (4063807.94, 596557.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210117.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210116.71,3642.9034,N,-12155.1290,W,1,03,00.5,071.4,M,-99.9,M,,*45 : Estimated North Bias at time = 985.00 : 1.30 : Estimated East Bias at time = 985.00 : 5.48 : Estimated Depth Bias at time = 985.00 : -0.05 : Estimated northing and easting = 4063809.24 : 596562.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210118.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210117.71,3642.9034,N,-12155.1279,W,1,03,00.5,071.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210119.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210118.71,3642.9035,N,-12155.1268,W,1,03,00.5,071.0,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.49 5.53 16.40 3.79 3.84 0 -9348.01 06:04:57 m : AshtechGps::processRecord() - $GPGGA,210120.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210119.71,3642.9036,N,-12155.1257,W,1,03,00.5,070.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210121.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210120.71,3642.9037,N,-12155.1246,W,1,03,00.5,070.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4063808.75, 596565.46) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.10 17.87 3.73 3.85 0 9204.19 06:05:00 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210122.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210121.71,3642.9038,N,-12155.1235,W,1,03,00.5,071.4,M,-99.9,M,,*42 : Estimated North Bias at time = 990.00 : 1.02 : Estimated East Bias at time = 990.00 : 5.20 : Estimated Depth Bias at time = 990.00 : -0.05 : Estimated northing and easting = 4063809.77 : 596570.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210123.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210122.71,3642.9040,N,-12155.1225,W,1,03,00.5,070.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210124.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210123.71,3642.9042,N,-12155.1214,W,1,03,00.5,070.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210125.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210124.71,3642.9043,N,-12155.1203,W,1,03,00.5,070.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210126.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210125.71,3642.9044,N,-12155.1192,W,1,03,00.5,071.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 995.001838 : TerrainNav update at dvl time = 995.001838 : _navData-> (x,y) = (4063810.12, 596573.50) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210127.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210126.71,3642.9045,N,-12155.1179,W,1,03,00.5,071.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 995.00 : 1.08 : Estimated East Bias at time = 995.00 : 5.29 : Estimated Depth Bias at time = 995.00 : -0.05 : Estimated northing and easting = 4063811.21 : 596578.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210128.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210127.71,3642.9045,N,-12155.1167,W,1,03,00.5,071.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210129.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210128.71,3642.9046,N,-12155.1154,W,1,03,00.5,071.4,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.53 5.19 16.50 3.80 3.84 0 -9348.35 06:05:07 m : AshtechGps::processRecord() - $GPGGA,210130.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210129.71,3642.9046,N,-12155.1143,W,1,03,00.5,071.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210131.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210130.71,3642.9048,N,-12155.1132,W,1,03,00.5,070.9,M,-99.9,M,,*4d : TerrainNav update at nav time = 1000.001495 : TerrainNav update at dvl time = 1000.001495 : _navData-> (x,y) = (4063810.90, 596582.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 3.83 17.87 3.73 3.85 0 9203.90 06:05:10 m : AshtechGps::processRecord() - $GPGGA,210132.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210131.71,3642.9049,N,-12155.1122,W,1,03,00.5,071.5,M,-99.9,M,,*41 : Estimated North Bias at time = 1000.00 : 1.08 : Estimated East Bias at time = 1000.00 : 5.57 : Estimated Depth Bias at time = 1000.00 : -0.05 : Estimated northing and easting = 4063811.98 : 596587.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,210133.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210132.71,3642.9051,N,-12155.1111,W,1,03,00.5,070.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210134.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210133.71,3642.9052,N,-12155.1100,W,1,03,00.5,071.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210135.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210134.71,3642.9053,N,-12155.1088,W,1,03,00.5,071.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210136.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210135.71,3642.9054,N,-12155.1076,W,1,03,00.5,071.1,M,-99.9,M,,*4d : TerrainNav update at nav time = 1005.001153 : TerrainNav update at dvl time = 1005.001153 : _navData-> (x,y) = (4063812.21, 596590.67) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210137.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210136.71,3642.9055,N,-12155.1065,W,1,03,00.5,070.9,M,-99.9,M,,*44 : Estimated North Bias at time = 1005.00 : 1.07 : Estimated East Bias at time = 1005.00 : 4.94 : Estimated Depth Bias at time = 1005.00 : -0.05 : Estimated northing and easting = 4063813.28 : 596595.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210138.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210137.71,3642.9056,N,-12155.1054,W,1,03,00.5,070.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210139.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210138.71,3642.9057,N,-12155.1044,W,1,03,00.5,071.4,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.53 5.12 16.40 3.80 3.84 0 -9348.88 06:05:17 m : AshtechGps::processRecord() - $GPGGA,210140.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210139.71,3642.9058,N,-12155.1033,W,1,03,00.5,070.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210141.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210140.71,3642.9059,N,-12155.1023,W,1,03,00.5,071.4,M,-99.9,M,,*47 : TerrainNav update at nav time = 1010.000810 : TerrainNav update at dvl time = 1010.000810 : _navData-> (x,y) = (4063813.20, 596598.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.37 17.96 3.73 3.84 0 9203.42 06:05:20 m : AshtechGps::processRecord() - $GPGGA,210142.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210141.71,3642.9060,N,-12155.1011,W,1,03,00.5,071.1,M,-99.9,M,,*48 : Estimated North Bias at time = 1010.00 : 1.15 : Estimated East Bias at time = 1010.00 : 5.60 : Estimated Depth Bias at time = 1010.00 : -0.05 : Estimated northing and easting = 4063814.35 : 596604.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210143.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210142.71,3642.9062,N,-12155.0999,W,1,03,00.5,071.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210144.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210143.71,3642.9063,N,-12155.0986,W,1,03,00.5,071.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210145.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210144.71,3642.9065,N,-12155.0973,W,1,03,00.5,070.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210146.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210145.71,3642.9065,N,-12155.0961,W,1,03,00.5,071.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 1015.000468 : TerrainNav update at dvl time = 1015.000468 : _navData-> (x,y) = (4063814.51, 596607.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210147.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210146.71,3642.9066,N,-12155.0949,W,1,03,00.5,070.9,M,-99.9,M,,*45 : Estimated North Bias at time = 1015.00 : 0.98 : Estimated East Bias at time = 1015.00 : 4.61 : Estimated Depth Bias at time = 1015.00 : -0.05 : Estimated northing and easting = 4063815.48 : 596612.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210148.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210147.71,3642.9066,N,-12155.0938,W,1,03,00.5,070.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210149.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210148.71,3642.9067,N,-12155.0928,W,1,03,00.5,070.8,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.53 5.38 16.40 3.79 3.83 0 -9349.24 06:05:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210150.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210149.71,3642.9068,N,-12155.0918,W,1,03,00.5,070.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210151.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210150.71,3642.9070,N,-12155.0908,W,1,03,00.5,070.9,M,-99.9,M,,*40 : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4063815.41, 596615.62) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.03 17.87 3.73 3.84 0 9203.13 06:05:30 m : AshtechGps::processRecord() - $GPGGA,210152.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210151.71,3642.9072,N,-12155.0898,W,1,03,00.5,071.5,M,-99.9,M,,*46 : Estimated North Bias at time = 1020.00 : 0.86 : Estimated East Bias at time = 1020.00 : 6.04 : Estimated Depth Bias at time = 1020.00 : -0.05 : Estimated northing and easting = 4063816.27 : 596621.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210153.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210152.71,3642.9074,N,-12155.0887,W,1,03,00.5,071.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210154.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210153.71,3642.9075,N,-12155.0875,W,1,03,00.5,071.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210155.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210154.71,3642.9076,N,-12155.0864,W,1,03,00.5,070.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210156.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210155.71,3642.9077,N,-12155.0852,W,1,03,00.5,070.9,M,-99.9,M,,*4c : TerrainNav update at nav time = 1024.999783 : TerrainNav update at dvl time = 1024.999783 : _navData-> (x,y) = (4063816.75, 596623.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210157.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210156.71,3642.9077,N,-12155.0841,W,1,03,00.5,071.5,M,-99.9,M,,*40 : Estimated North Bias at time = 1025.00 : 1.26 : Estimated East Bias at time = 1025.00 : 5.45 : Estimated Depth Bias at time = 1025.00 : -0.05 : Estimated northing and easting = 4063818.01 : 596629.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210158.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210157.71,3642.9078,N,-12155.0829,W,1,03,00.5,071.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210159.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210158.71,3642.9079,N,-12155.0817,W,1,03,00.5,070.7,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.53 5.04 16.40 3.79 3.83 0 -9349.77 06:05:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210200.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210159.70,3642.9080,N,-12155.0805,W,1,03,00.5,070.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210201.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210200.70,3642.9081,N,-12155.0792,W,1,03,00.5,070.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 1029.999440 : TerrainNav update at dvl time = 1029.999440 : _navData-> (x,y) = (4063817.69, 596632.84) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 4.07 17.87 3.73 3.84 0 9202.67 06:05:40 m : AshtechGps::processRecord() - $GPGGA,210202.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210201.70,3642.9082,N,-12155.0781,W,1,03,00.5,070.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1030.00 : 1.13 : Estimated East Bias at time = 1030.00 : 4.98 : Estimated Depth Bias at time = 1030.00 : -0.05 : Estimated northing and easting = 4063818.82 : 596637.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210203.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210202.70,3642.9083,N,-12155.0769,W,1,03,00.5,070.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210204.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210203.70,3642.9084,N,-12155.0758,W,1,03,00.5,070.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210205.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210204.70,3642.9086,N,-12155.0748,W,1,03,00.5,070.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210206.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210205.70,3642.9087,N,-12155.0738,W,1,03,00.5,070.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 1034.999098 : TerrainNav update at dvl time = 1034.999098 : _navData-> (x,y) = (4063818.94, 596640.94) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210207.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210206.70,3642.9089,N,-12155.0728,W,1,03,00.5,071.4,M,-99.9,M,,*47 : Estimated North Bias at time = 1035.00 : 0.90 : Estimated East Bias at time = 1035.00 : 5.71 : Estimated Depth Bias at time = 1035.00 : -0.05 : Estimated northing and easting = 4063819.83 : 596646.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210208.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210207.70,3642.9090,N,-12155.0718,W,1,03,00.5,069.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210209.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210208.70,3642.9091,N,-12155.0707,W,1,03,00.5,070.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.49 5.16 16.40 3.79 3.84 0 -9350.11 06:05:47 m : AshtechGps::processRecord() - $GPGGA,210210.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210209.70,3642.9092,N,-12155.0695,W,1,03,00.5,070.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210211.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210210.70,3642.9093,N,-12155.0683,W,1,03,00.5,071.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 1039.998755 : TerrainNav update at dvl time = 1039.998755 : _navData-> (x,y) = (4063819.98, 596649.05) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 5.13 17.87 3.73 3.84 0 9202.40 06:05:50 m : AshtechGps::processRecord() - $GPGGA,210212.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210211.70,3642.9093,N,-12155.0670,W,1,03,00.5,071.8,M,-99.9,M,,*4a : Estimated North Bias at time = 1040.00 : 1.27 : Estimated East Bias at time = 1040.00 : 5.05 : Estimated Depth Bias at time = 1040.00 : -0.05 : Estimated northing and easting = 4063821.26 : 596654.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210213.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210212.70,3642.9094,N,-12155.0657,W,1,03,00.5,071.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210214.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210213.70,3642.9095,N,-12155.0644,W,1,03,00.5,071.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210215.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210214.70,3642.9096,N,-12155.0632,W,1,03,00.5,071.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210216.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210215.70,3642.9098,N,-12155.0621,W,1,03,00.5,070.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 1044.998413 : TerrainNav update at dvl time = 1044.998413 : _navData-> (x,y) = (4063821.00, 596658.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210217.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210216.70,3642.9099,N,-12155.0610,W,1,03,00.5,070.8,M,-99.9,M,,*40 : Estimated North Bias at time = 1045.00 : 1.05 : Estimated East Bias at time = 1045.00 : 4.87 : Estimated Depth Bias at time = 1045.00 : -0.05 : Estimated northing and easting = 4063822.06 : 596663.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210218.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210217.70,3642.9100,N,-12155.0600,W,1,03,00.5,070.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210219.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210218.70,3642.9101,N,-12155.0590,W,1,03,00.5,070.2,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.49 5.16 16.40 3.79 3.84 0 -9350.65 06:05:57 m : AshtechGps::processRecord() - $GPGGA,210220.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210219.70,3642.9102,N,-12155.0580,W,1,03,00.5,070.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210221.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210220.70,3642.9103,N,-12155.0570,W,1,03,00.5,070.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4063822.19, 596665.89) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.99 17.87 3.73 3.84 0 9201.99 06:06:00 m : AshtechGps::processRecord() - $GPGGA,210222.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210221.70,3642.9104,N,-12155.0559,W,1,03,00.5,071.5,M,-99.9,M,,*43 : Estimated North Bias at time = 1050.00 : 1.10 : Estimated East Bias at time = 1050.00 : 5.44 : Estimated Depth Bias at time = 1050.00 : -0.05 : Estimated northing and easting = 4063823.29 : 596671.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210223.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210222.70,3642.9105,N,-12155.0547,W,1,03,00.5,071.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210224.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210223.70,3642.9106,N,-12155.0535,W,1,03,00.5,070.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210225.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210224.70,3642.9107,N,-12155.0522,W,1,03,00.5,070.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210226.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210225.70,3642.9108,N,-12155.0510,W,1,03,00.5,070.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 1054.997728 : TerrainNav update at dvl time = 1054.997728 : _navData-> (x,y) = (4063823.13, 596674.85) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210227.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210226.70,3642.9109,N,-12155.0498,W,1,03,00.5,070.9,M,-99.9,M,,*48 : Estimated North Bias at time = 1055.00 : 1.18 : Estimated East Bias at time = 1055.00 : 4.41 : Estimated Depth Bias at time = 1055.00 : -0.05 : Estimated northing and easting = 4063824.31 : 596679.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210228.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210227.70,3642.9111,N,-12155.0487,W,1,03,00.5,070.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210229.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210228.70,3642.9113,N,-12155.0476,W,1,03,00.5,071.4,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.57 4.64 16.40 3.79 3.84 0 -9350.99 06:06:07 m : AshtechGps::processRecord() - $GPGGA,210230.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210229.70,3642.9114,N,-12155.0466,W,1,03,00.5,070.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210231.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210230.70,3642.9115,N,-12155.0456,W,1,03,00.5,070.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 1059.997385 : TerrainNav update at dvl time = 1059.997385 : _navData-> (x,y) = (4063824.53, 596682.88) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.95 17.87 3.73 3.84 0 9201.71 06:06:10 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210232.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210231.70,3642.9116,N,-12155.0445,W,1,03,00.5,071.4,M,-99.9,M,,*4c : Estimated North Bias at time = 1060.00 : 1.10 : Estimated East Bias at time = 1060.00 : 5.32 : Estimated Depth Bias at time = 1060.00 : -0.05 : Estimated northing and easting = 4063825.62 : 596688.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210233.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210232.70,3642.9116,N,-12155.0433,W,1,03,00.5,071.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210234.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210233.70,3642.9117,N,-12155.0421,W,1,03,00.5,071.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210235.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210234.70,3642.9117,N,-12155.0409,W,1,03,00.5,070.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210236.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210235.70,3642.9118,N,-12155.0396,W,1,03,00.5,070.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 1064.997043 : TerrainNav update at dvl time = 1064.997043 : _navData-> (x,y) = (4063825.21, 596691.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210237.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210236.70,3642.9120,N,-12155.0385,W,1,03,00.5,070.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1065.00 : 1.27 : Estimated East Bias at time = 1065.00 : 4.33 : Estimated Depth Bias at time = 1065.00 : -0.05 : Estimated northing and easting = 4063826.48 : 596696.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210238.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210237.70,3642.9122,N,-12155.0374,W,1,03,00.5,070.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210239.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210238.70,3642.9124,N,-12155.0365,W,1,03,00.5,069.9,M,-99.9,M,,*45 : BluefinBatt Reply: $aaq0 d- 30.53 5.23 16.40 3.79 3.84 0 -9351.53 06:06:17 m : AshtechGps::processRecord() - $GPGGA,210240.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210239.70,3642.9125,N,-12155.0355,W,1,03,00.5,070.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210241.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210240.70,3642.9127,N,-12155.0344,W,1,03,00.5,070.9,M,-99.9,M,,*42 : TerrainNav update at nav time = 1069.996700 : TerrainNav update at dvl time = 1069.996700 : _navData-> (x,y) = (4063826.86, 596699.45) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.25 17.87 3.73 3.84 0 9201.27 06:06:20 m : AshtechGps::processRecord() - $GPGGA,210242.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210241.70,3642.9128,N,-12155.0333,W,1,03,00.5,070.8,M,-99.9,M,,*4d : Estimated North Bias at time = 1070.00 : 1.12 : Estimated East Bias at time = 1070.00 : 5.12 : Estimated Depth Bias at time = 1070.00 : -0.05 : Estimated northing and easting = 4063827.98 : 596704.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210243.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210242.70,3642.9128,N,-12155.0321,W,1,03,00.5,071.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210244.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210243.70,3642.9128,N,-12155.0308,W,1,03,00.5,071.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210245.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210244.70,3642.9128,N,-12155.0296,W,1,03,00.5,070.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210246.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210245.70,3642.9128,N,-12155.0283,W,1,03,00.5,070.9,M,-99.9,M,,*42 : TerrainNav update at nav time = 1074.996358 : TerrainNav update at dvl time = 1074.996358 : _navData-> (x,y) = (4063827.27, 596708.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210247.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210246.70,3642.9129,N,-12155.0271,W,1,03,00.5,070.8,M,-99.9,M,,*4c : Estimated North Bias at time = 1075.00 : 1.81 : Estimated East Bias at time = 1075.00 : 4.10 : Estimated Depth Bias at time = 1075.00 : -0.05 : Estimated northing and easting = 4063829.09 : 596712.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210248.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210247.70,3642.9130,N,-12155.0259,W,1,03,00.5,070.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210249.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210248.70,3642.9132,N,-12155.0248,W,1,03,00.5,070.8,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.49 5.53 16.40 3.79 3.84 0 -9351.85 06:06:27 m : AshtechGps::processRecord() - $GPGGA,210250.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210249.70,3642.9133,N,-12155.0238,W,1,03,00.5,070.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210251.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210250.70,3642.9135,N,-12155.0228,W,1,03,00.5,070.5,M,-99.9,M,,*47 : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4063828.61, 596716.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.25 17.96 3.73 3.84 0 9200.96 06:06:30 m : AshtechGps::processRecord() - $GPGGA,210252.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210251.70,3642.9137,N,-12155.0219,W,1,03,00.5,070.0,M,-99.9,M,,*43 : Estimated North Bias at time = 1080.00 : 0.87 : Estimated East Bias at time = 1080.00 : 5.26 : Estimated Depth Bias at time = 1080.00 : -0.05 : Estimated northing and easting = 4063829.48 : 596721.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210253.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210252.70,3642.9138,N,-12155.0208,W,1,03,00.5,070.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210254.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210253.70,3642.9140,N,-12155.0198,W,1,03,00.5,070.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210255.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210254.70,3642.9141,N,-12155.0186,W,1,03,00.5,070.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210256.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210255.70,3642.9141,N,-12155.0175,W,1,03,00.5,070.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 1084.995673 : TerrainNav update at dvl time = 1084.995673 : _navData-> (x,y) = (4063829.86, 596724.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210257.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210256.70,3642.9142,N,-12155.0162,W,1,03,00.5,070.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1085.00 : 1.31 : Estimated East Bias at time = 1085.00 : 4.36 : Estimated Depth Bias at time = 1085.00 : -0.05 : Estimated northing and easting = 4063831.17 : 596729.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210258.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210257.70,3642.9142,N,-12155.0150,W,1,03,00.5,070.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210259.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210258.70,3642.9143,N,-12155.0137,W,1,03,00.5,070.8,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.53 4.93 16.40 3.79 3.84 0 -9352.39 06:06:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210300.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210259.70,3642.9144,N,-12155.0125,W,1,03,00.5,070.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210301.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210300.70,3642.9145,N,-12155.0114,W,1,03,00.5,070.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 1089.995330 : TerrainNav update at dvl time = 1089.995330 : _navData-> (x,y) = (4063830.56, 596733.72) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.29 17.87 3.72 3.84 0 9200.50 06:06:40 m : AshtechGps::processRecord() - $GPGGA,210302.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210301.70,3642.9146,N,-12155.0103,W,1,03,00.5,070.2,M,-99.9,M,,*4b : Estimated North Bias at time = 1090.00 : 1.36 : Estimated East Bias at time = 1090.00 : 4.29 : Estimated Depth Bias at time = 1090.00 : -0.05 : Estimated northing and easting = 4063831.92 : 596738.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210303.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210302.70,3642.9147,N,-12155.0092,W,1,03,00.5,069.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210304.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210303.70,3642.9148,N,-12155.0081,W,1,03,00.5,069.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210305.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210304.70,3642.9150,N,-12155.0071,W,1,03,00.5,070.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210306.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210305.70,3642.9151,N,-12155.0061,W,1,03,00.5,070.4,M,-99.9,M,,*4a : TerrainNav update at nav time = 1094.994988 : TerrainNav update at dvl time = 1094.994988 : _navData-> (x,y) = (4063831.88, 596741.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210307.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210306.70,3642.9153,N,-12155.0050,W,1,03,00.5,070.7,M,-99.9,M,,*4a : Estimated North Bias at time = 1094.99 : 1.02 : Estimated East Bias at time = 1094.99 : 4.81 : Estimated Depth Bias at time = 1094.99 : -0.05 : Estimated northing and easting = 4063832.90 : 596746.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210308.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210307.70,3642.9154,N,-12155.0039,W,1,03,00.5,071.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210309.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210308.70,3642.9155,N,-12155.0027,W,1,03,00.5,069.6,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.49 4.89 16.40 3.79 3.83 0 -9352.75 06:06:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210310.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210309.70,3642.9155,N,-12155.0016,W,1,03,00.5,070.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210311.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210310.70,3642.9156,N,-12155.0004,W,1,03,00.5,070.8,M,-99.9,M,,*46 : TerrainNav update at nav time = 1099.994645 : TerrainNav update at dvl time = 1099.994645 : _navData-> (x,y) = (4063832.81, 596750.02) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.48 17.87 3.72 3.84 0 9200.19 06:06:50 m : AshtechGps::processRecord() - $GPGGA,210312.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210311.71,3642.9157,N,-12154.9993,W,1,03,00.5,070.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1099.99 : 1.81 : Estimated East Bias at time = 1099.99 : 4.19 : Estimated Depth Bias at time = 1099.99 : -0.05 : Estimated northing and easting = 4063834.62 : 596754.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210313.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210312.71,3642.9157,N,-12154.9982,W,1,03,00.5,070.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210314.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210313.71,3642.9158,N,-12154.9970,W,1,03,00.5,070.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210315.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210314.71,3642.9160,N,-12154.9959,W,1,03,00.5,070.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210316.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210315.71,3642.9161,N,-12154.9947,W,1,03,00.5,070.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 1104.994303 : TerrainNav update at dvl time = 1104.994303 : _navData-> (x,y) = (4063833.86, 596758.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210317.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210316.71,3642.9162,N,-12154.9936,W,1,03,00.5,070.0,M,-99.9,M,,*4e : Estimated North Bias at time = 1104.99 : 1.52 : Estimated East Bias at time = 1104.99 : 4.22 : Estimated Depth Bias at time = 1104.99 : -0.05 : Estimated northing and easting = 4063835.38 : 596762.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210318.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210317.71,3642.9163,N,-12154.9924,W,1,03,00.5,070.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210319.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210318.71,3642.9164,N,-12154.9913,W,1,03,00.5,070.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.53 4.78 16.40 3.79 3.83 0 -9353.29 06:06:57 m : AshtechGps::processRecord() - $GPGGA,210320.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210319.71,3642.9165,N,-12154.9902,W,1,03,00.5,069.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210321.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210320.71,3642.9166,N,-12154.9891,W,1,03,00.5,070.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4063834.94, 596766.86) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.98 17.87 3.73 3.84 0 9199.78 06:07:00 m : AshtechGps::processRecord() - $GPGGA,210322.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210321.71,3642.9167,N,-12154.9881,W,1,03,00.5,070.3,M,-99.9,M,,*41 : Estimated North Bias at time = 1109.99 : 1.74 : Estimated East Bias at time = 1109.99 : 4.40 : Estimated Depth Bias at time = 1109.99 : -0.05 : Estimated northing and easting = 4063836.68 : 596771.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210323.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210322.71,3642.9169,N,-12154.9870,W,1,03,00.5,070.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210324.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210323.71,3642.9170,N,-12154.9860,W,1,03,00.5,070.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210325.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210324.71,3642.9171,N,-12154.9848,W,1,03,00.5,070.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210326.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210325.71,3642.9172,N,-12154.9837,W,1,03,00.5,070.7,M,-99.9,M,,*48 : TerrainNav update at nav time = 1114.993618 : TerrainNav update at dvl time = 1114.993618 : _navData-> (x,y) = (4063836.17, 596774.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210327.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210326.71,3642.9173,N,-12154.9825,W,1,03,00.5,070.7,M,-99.9,M,,*49 : Estimated North Bias at time = 1114.99 : 1.49 : Estimated East Bias at time = 1114.99 : 4.14 : Estimated Depth Bias at time = 1114.99 : -0.05 : Estimated northing and easting = 4063837.66 : 596779.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210328.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210327.71,3642.9174,N,-12154.9813,W,1,03,00.5,070.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210329.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210328.71,3642.9175,N,-12154.9802,W,1,03,00.5,070.3,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.45 6.08 16.40 3.79 3.84 0 -9353.64 06:07:07 m : AshtechGps::processRecord() - $GPGGA,210330.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210329.71,3642.9175,N,-12154.9791,W,1,03,00.5,070.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210331.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210330.71,3642.9176,N,-12154.9780,W,1,03,00.5,070.9,M,-99.9,M,,*45 : TerrainNav update at nav time = 1119.993275 : TerrainNav update at dvl time = 1119.993275 : _navData-> (x,y) = (4063836.98, 596783.29) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.91 17.87 3.73 3.84 0 9199.50 06:07:10 m : AshtechGps::processRecord() - $GPGGA,210332.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210331.71,3642.9177,N,-12154.9769,W,1,03,00.5,070.8,M,-99.9,M,,*43 : Estimated North Bias at time = 1119.99 : 1.72 : Estimated East Bias at time = 1119.99 : 4.65 : Estimated Depth Bias at time = 1119.99 : -0.05 : Estimated northing and easting = 4063838.70 : 596787.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210333.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210332.71,3642.9178,N,-12154.9757,W,1,03,00.5,069.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210334.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210333.71,3642.9179,N,-12154.9745,W,1,03,00.5,070.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210335.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210334.71,3642.9181,N,-12154.9733,W,1,03,00.5,069.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210336.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210335.71,3642.9182,N,-12154.9723,W,1,03,00.5,070.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 1125.002932 : TerrainNav update at dvl time = 1125.002932 : _navData-> (x,y) = (4063838.11, 596791.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210337.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210336.71,3642.9183,N,-12154.9712,W,1,03,00.5,070.2,M,-99.9,M,,*49 : Estimated North Bias at time = 1125.00 : 1.49 : Estimated East Bias at time = 1125.00 : 4.33 : Estimated Depth Bias at time = 1125.00 : -0.05 : Estimated northing and easting = 4063839.60 : 596796.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210338.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210337.71,3642.9184,N,-12154.9702,W,1,03,00.5,070.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210339.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210338.71,3642.9185,N,-12154.9691,W,1,03,00.5,070.8,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.49 5.23 16.40 3.79 3.84 0 -9354.17 06:07:17 m : AshtechGps::processRecord() - $GPGGA,210340.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210339.71,3642.9186,N,-12154.9680,W,1,03,00.5,070.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210341.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210340.71,3642.9187,N,-12154.9669,W,1,03,00.5,070.8,M,-99.9,M,,*4b : TerrainNav update at nav time = 1130.002590 : TerrainNav update at dvl time = 1130.002590 : _navData-> (x,y) = (4063839.23, 596799.87) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.07 17.87 3.73 3.84 0 9199.03 06:07:20 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210342.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210341.71,3642.9188,N,-12154.9657,W,1,03,00.5,070.7,M,-99.9,M,,*47 : Estimated North Bias at time = 1130.00 : 1.74 : Estimated East Bias at time = 1130.00 : 4.00 : Estimated Depth Bias at time = 1130.00 : -0.05 : Estimated northing and easting = 4063840.97 : 596803.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210343.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210342.71,3642.9189,N,-12154.9645,W,1,03,00.5,071.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210344.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210343.71,3642.9190,N,-12154.9634,W,1,03,00.5,070.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210345.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210344.71,3642.9190,N,-12154.9622,W,1,03,00.5,070.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210346.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210345.71,3642.9191,N,-12154.9611,W,1,03,00.5,069.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 1135.002247 : TerrainNav update at dvl time = 1135.002247 : _navData-> (x,y) = (4063840.02, 596808.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210347.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210346.71,3642.9193,N,-12154.9601,W,1,03,00.5,069.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1135.00 : 2.02 : Estimated East Bias at time = 1135.00 : 4.07 : Estimated Depth Bias at time = 1135.00 : -0.05 : Estimated northing and easting = 4063842.05 : 596812.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210348.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210347.71,3642.9194,N,-12154.9590,W,1,03,00.5,070.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210349.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210348.71,3642.9196,N,-12154.9579,W,1,03,00.5,070.6,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.53 4.78 16.40 3.79 3.83 0 -9354.52 06:07:27 m : AshtechGps::processRecord() - $GPGGA,210350.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210349.71,3642.9197,N,-12154.9568,W,1,03,00.5,070.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210351.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210350.71,3642.9197,N,-12154.9557,W,1,03,00.5,070.7,M,-99.9,M,,*4a : TerrainNav update at nav time = 1140.001905 : TerrainNav update at dvl time = 1140.001905 : _navData-> (x,y) = (4063841.25, 596816.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.75 17.96 3.73 3.84 0 9198.72 06:07:30 m : AshtechGps::processRecord() - $GPGGA,210352.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210351.71,3642.9198,N,-12154.9545,W,1,03,00.5,070.7,M,-99.9,M,,*47 : Estimated North Bias at time = 1140.00 : 2.09 : Estimated East Bias at time = 1140.00 : 3.98 : Estimated Depth Bias at time = 1140.00 : -0.05 : Estimated northing and easting = 4063843.35 : 596820.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210353.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210352.71,3642.9198,N,-12154.9533,W,1,03,00.5,070.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210354.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210353.71,3642.9199,N,-12154.9522,W,1,03,00.5,070.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210355.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210354.71,3642.9201,N,-12154.9510,W,1,03,00.5,070.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210356.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210355.71,3642.9202,N,-12154.9499,W,1,03,00.5,070.0,M,-99.9,M,,*44 : TerrainNav update at nav time = 1145.001562 : TerrainNav update at dvl time = 1145.001562 : _navData-> (x,y) = (4063842.28, 596825.07) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210357.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210356.71,3642.9204,N,-12154.9489,W,1,03,00.5,070.7,M,-99.9,M,,*47 : Estimated North Bias at time = 1145.00 : 1.68 : Estimated East Bias at time = 1145.00 : 3.97 : Estimated Depth Bias at time = 1145.00 : -0.05 : Estimated northing and easting = 4063843.96 : 596829.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210358.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210357.71,3642.9205,N,-12154.9478,W,1,03,00.5,069.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210359.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210358.71,3642.9206,N,-12154.9468,W,1,03,00.5,069.8,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.53 4.86 16.40 3.79 3.83 0 -9355.05 06:07:37 m : AshtechGps::processRecord() - $GPGGA,210400.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210359.71,3642.9206,N,-12154.9458,W,1,03,00.5,070.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210401.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210400.71,3642.9207,N,-12154.9446,W,1,03,00.5,070.4,M,-99.9,M,,*40 : TerrainNav update at nav time = 1150.001220 : TerrainNav update at dvl time = 1150.001220 : _navData-> (x,y) = (4063843.26, 596832.94) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.25 17.87 3.73 3.84 0 9198.28 06:07:40 m : AshtechGps::processRecord() - $GPGGA,210402.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210401.71,3642.9208,N,-12154.9434,W,1,03,00.5,070.7,M,-99.9,M,,*48 : Estimated North Bias at time = 1150.00 : 2.25 : Estimated East Bias at time = 1150.00 : 4.24 : Estimated Depth Bias at time = 1150.00 : -0.05 : Estimated northing and easting = 4063845.51 : 596837.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210403.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210402.71,3642.9209,N,-12154.9422,W,1,03,00.5,070.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210404.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210403.71,3642.9210,N,-12154.9410,W,1,03,00.5,070.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210405.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210404.71,3642.9211,N,-12154.9399,W,1,03,00.5,069.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210406.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210405.71,3642.9213,N,-12154.9388,W,1,03,00.5,069.7,M,-99.9,M,,*4e : TerrainNav update at nav time = 1155.000877 : TerrainNav update at dvl time = 1155.000877 : _navData-> (x,y) = (4063844.40, 596841.64) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210407.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210406.71,3642.9214,N,-12154.9377,W,1,03,00.5,070.2,M,-99.9,M,,*47 : Estimated North Bias at time = 1155.00 : 1.97 : Estimated East Bias at time = 1155.00 : 4.25 : Estimated Depth Bias at time = 1155.00 : -0.05 : Estimated northing and easting = 4063846.37 : 596845.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210408.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210407.71,3642.9215,N,-12154.9367,W,1,03,00.5,070.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210409.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210408.71,3642.9216,N,-12154.9357,W,1,03,00.5,069.8,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.53 4.93 16.40 3.79 3.84 0 -9355.39 06:07:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210410.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210409.71,3642.9217,N,-12154.9346,W,1,03,00.5,070.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210411.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210410.71,3642.9217,N,-12154.9334,W,1,03,00.5,070.4,M,-99.9,M,,*42 : TerrainNav update at nav time = 1160.000535 : TerrainNav update at dvl time = 1160.000535 : _navData-> (x,y) = (4063845.29, 596849.66) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.95 17.96 3.73 3.84 0 9197.99 06:07:50 m : AshtechGps::processRecord() - $GPGGA,210412.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210411.71,3642.9218,N,-12154.9322,W,1,03,00.5,070.1,M,-99.9,M,,*4e : Estimated North Bias at time = 1160.00 : 2.63 : Estimated East Bias at time = 1160.00 : 4.15 : Estimated Depth Bias at time = 1160.00 : -0.05 : Estimated northing and easting = 4063847.91 : 596853.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210413.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210412.71,3642.9218,N,-12154.9310,W,1,03,00.5,069.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210414.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210413.71,3642.9220,N,-12154.9299,W,1,03,00.5,070.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210415.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210414.71,3642.9221,N,-12154.9288,W,1,03,00.5,070.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210416.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210415.71,3642.9223,N,-12154.9277,W,1,03,00.5,070.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 1165.000192 : TerrainNav update at dvl time = 1165.000192 : _navData-> (x,y) = (4063846.40, 596858.10) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210417.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210416.71,3642.9224,N,-12154.9266,W,1,03,00.5,069.5,M,-99.9,M,,*4b : Estimated North Bias at time = 1165.00 : 2.00 : Estimated East Bias at time = 1165.00 : 4.55 : Estimated Depth Bias at time = 1165.00 : -0.05 : Estimated northing and easting = 4063848.40 : 596862.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210418.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210417.71,3642.9225,N,-12154.9256,W,1,03,00.5,070.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210419.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210418.71,3642.9225,N,-12154.9245,W,1,03,00.5,070.0,M,-99.9,M,,*48 : BluefinBatt Reply: $aaq0 d- 30.49 5.19 16.50 3.79 3.84 0 -9355.95 06:07:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210420.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210419.71,3642.9226,N,-12154.9234,W,1,03,00.5,070.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210421.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210420.71,3642.9227,N,-12154.9223,W,1,03,00.5,070.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 1169.999850 : TerrainNav update at dvl time = 1169.999850 : _navData-> (x,y) = (4063847.31, 596866.09) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.91 17.96 3.73 3.84 0 9197.50 06:08:00 m : AshtechGps::processRecord() - $GPGGA,210422.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210421.71,3642.9228,N,-12154.9212,W,1,03,00.5,070.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1170.00 : 2.35 : Estimated East Bias at time = 1170.00 : 4.70 : Estimated Depth Bias at time = 1170.00 : -0.05 : Estimated northing and easting = 4063849.66 : 596870.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210423.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210422.71,3642.9229,N,-12154.9200,W,1,03,00.5,070.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210424.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210423.71,3642.9231,N,-12154.9188,W,1,03,00.5,070.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,210425.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210424.71,3642.9232,N,-12154.9177,W,1,03,00.5,070.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210426.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210425.70,3642.9232,N,-12154.9166,W,1,03,00.5,070.0,M,-99.9,M,,*43 : TerrainNav update at nav time = 1174.999507 : TerrainNav update at dvl time = 1174.999507 : _navData-> (x,y) = (4063848.39, 596874.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210427.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210426.70,3642.9233,N,-12154.9155,W,1,03,00.5,070.5,M,-99.9,M,,*44 : Estimated North Bias at time = 1175.00 : 2.42 : Estimated East Bias at time = 1175.00 : 4.77 : Estimated Depth Bias at time = 1175.00 : -0.05 : Estimated northing and easting = 4063850.81 : 596879.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210428.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210427.70,3642.9234,N,-12154.9144,W,1,03,00.5,070.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210429.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210428.70,3642.9235,N,-12154.9133,W,1,03,00.5,070.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.49 5.08 16.40 3.79 3.83 0 -9356.29 06:08:07 m : AshtechGps::processRecord() - $GPGGA,210430.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210429.70,3642.9236,N,-12154.9122,W,1,03,00.5,070.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210431.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210430.70,3642.9237,N,-12154.9111,W,1,03,00.5,070.4,M,-99.9,M,,*46 : TerrainNav update at nav time = 1179.999165 : TerrainNav update at dvl time = 1179.999165 : _navData-> (x,y) = (4063849.29, 596882.75) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.29 17.87 3.73 3.84 0 9197.20 06:08:10 m : AshtechGps::processRecord() - $GPGGA,210432.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210431.70,3642.9238,N,-12154.9101,W,1,03,00.5,070.4,M,-99.9,M,,*49 : Estimated North Bias at time = 1180.00 : 2.41 : Estimated East Bias at time = 1180.00 : 4.66 : Estimated Depth Bias at time = 1180.00 : -0.05 : Estimated northing and easting = 4063851.70 : 596887.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210433.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210432.70,3642.9240,N,-12154.9090,W,1,03,00.5,069.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210434.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210433.70,3642.9241,N,-12154.9079,W,1,03,00.5,070.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210435.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210434.70,3642.9242,N,-12154.9068,W,1,03,00.5,070.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210436.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210435.70,3642.9243,N,-12154.9057,W,1,03,00.5,070.7,M,-99.9,M,,*40 : TerrainNav update at nav time = 1184.998822 : TerrainNav update at dvl time = 1184.998822 : _navData-> (x,y) = (4063850.56, 596890.86) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210437.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210436.70,3642.9244,N,-12154.9045,W,1,03,00.5,070.0,M,-99.9,M,,*40 : Estimated North Bias at time = 1185.00 : 2.55 : Estimated East Bias at time = 1185.00 : 4.50 : Estimated Depth Bias at time = 1185.00 : -0.05 : Estimated northing and easting = 4063853.12 : 596895.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210438.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210437.70,3642.9245,N,-12154.9034,W,1,03,00.5,070.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210439.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210438.70,3642.9246,N,-12154.9022,W,1,03,00.5,070.8,M,-99.9,M,,*45 : BluefinBatt Reply: $aaq0 d- 30.49 5.12 16.40 3.79 3.83 0 -9356.84 06:08:17 m : AshtechGps::processRecord() - $GPGGA,210440.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210439.70,3642.9246,N,-12154.9010,W,1,03,00.5,070.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210441.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210440.70,3642.9247,N,-12154.8999,W,1,03,00.5,069.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 1189.998480 : TerrainNav update at dvl time = 1189.998480 : _navData-> (x,y) = (4063851.42, 596899.47) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.44 17.96 3.73 3.84 0 9196.77 06:08:20 m : AshtechGps::processRecord() - $GPGGA,210442.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210441.70,3642.9248,N,-12154.8988,W,1,03,00.5,069.5,M,-99.9,M,,*48 : Estimated North Bias at time = 1190.00 : 2.64 : Estimated East Bias at time = 1190.00 : 4.28 : Estimated Depth Bias at time = 1190.00 : -0.05 : Estimated northing and easting = 4063854.06 : 596903.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210443.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210442.70,3642.9249,N,-12154.8978,W,1,03,00.5,069.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210444.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210443.70,3642.9250,N,-12154.8968,W,1,03,00.5,069.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210445.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210444.70,3642.9252,N,-12154.8958,W,1,03,00.5,069.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,210446.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210445.70,3642.9253,N,-12154.8948,W,1,03,00.5,069.9,M,-99.9,M,,*46 : TerrainNav update at nav time = 1194.998137 : TerrainNav update at dvl time = 1194.998137 : _navData-> (x,y) = (4063852.55, 596907.00) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210447.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210446.70,3642.9254,N,-12154.8937,W,1,03,00.5,070.4,M,-99.9,M,,*4f : Estimated North Bias at time = 1195.00 : 2.50 : Estimated East Bias at time = 1195.00 : 5.08 : Estimated Depth Bias at time = 1195.00 : -0.05 : Estimated northing and easting = 4063855.05 : 596912.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210448.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210447.70,3642.9256,N,-12154.8924,W,1,03,00.5,070.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210449.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210448.70,3642.9257,N,-12154.8911,W,1,03,00.5,070.6,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.45 5.53 16.40 3.79 3.83 0 -9357.19 06:08:27 m : AshtechGps::processRecord() - $GPGGA,210450.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210449.70,3642.9258,N,-12154.8899,W,1,03,00.5,070.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210451.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210450.70,3642.9259,N,-12154.8887,W,1,03,00.5,069.8,M,-99.9,M,,*4b : TerrainNav update at nav time = 1199.997795 : TerrainNav update at dvl time = 1199.997795 : _navData-> (x,y) = (4063853.69, 596916.03) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.29 17.87 3.73 3.84 0 9196.51 06:08:30 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210452.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210451.70,3642.9259,N,-12154.8877,W,1,03,00.5,070.3,M,-99.9,M,,*46 : Estimated North Bias at time = 1200.00 : 2.74 : Estimated East Bias at time = 1200.00 : 4.21 : Estimated Depth Bias at time = 1200.00 : -0.05 : Estimated northing and easting = 4063856.42 : 596920.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210453.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210452.70,3642.9260,N,-12154.8867,W,1,03,00.5,070.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210454.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210453.70,3642.9261,N,-12154.8857,W,1,03,00.5,069.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210455.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210454.70,3642.9262,N,-12154.8847,W,1,03,00.5,069.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210456.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210455.70,3642.9263,N,-12154.8835,W,1,03,00.5,070.0,M,-99.9,M,,*4e : TerrainNav update at nav time = 1204.997452 : TerrainNav update at dvl time = 1204.997452 : _navData-> (x,y) = (4063854.59, 596923.78) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210457.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210456.70,3642.9264,N,-12154.8823,W,1,03,00.5,070.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1205.00 : 2.69 : Estimated East Bias at time = 1205.00 : 4.83 : Estimated Depth Bias at time = 1205.00 : -0.05 : Estimated northing and easting = 4063857.29 : 596928.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210458.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210457.70,3642.9265,N,-12154.8811,W,1,03,00.5,070.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210459.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210458.70,3642.9266,N,-12154.8799,W,1,03,00.5,070.1,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.49 5.26 16.50 3.79 3.83 0 -9357.70 06:08:37 m : AshtechGps::processRecord() - $GPGGA,210500.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210459.70,3642.9267,N,-12154.8788,W,1,03,00.5,069.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210501.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210500.70,3642.9268,N,-12154.8777,W,1,03,00.5,070.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 1209.997110 : TerrainNav update at dvl time = 1209.997110 : _navData-> (x,y) = (4063855.69, 596932.44) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.37 17.87 3.72 3.84 0 9196.04 06:08:40 m : AshtechGps::processRecord() - $GPGGA,210502.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210501.70,3642.9270,N,-12154.8767,W,1,03,00.5,069.8,M,-99.9,M,,*44 : Estimated North Bias at time = 1210.00 : 2.57 : Estimated East Bias at time = 1210.00 : 5.05 : Estimated Depth Bias at time = 1210.00 : -0.05 : Estimated northing and easting = 4063858.27 : 596937.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210503.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210502.70,3642.9271,N,-12154.8757,W,1,03,00.5,070.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210504.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210503.70,3642.9272,N,-12154.8747,W,1,03,00.5,069.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210505.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210504.70,3642.9273,N,-12154.8736,W,1,03,00.5,070.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210506.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210505.70,3642.9274,N,-12154.8724,W,1,03,00.5,070.6,M,-99.9,M,,*45 : TerrainNav update at nav time = 1214.996767 : TerrainNav update at dvl time = 1214.996767 : _navData-> (x,y) = (4063856.75, 596940.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210507.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210506.70,3642.9275,N,-12154.8712,W,1,03,00.5,070.8,M,-99.9,M,,*4c : Estimated North Bias at time = 1215.00 : 2.77 : Estimated East Bias at time = 1215.00 : 4.80 : Estimated Depth Bias at time = 1215.00 : -0.05 : Estimated northing and easting = 4063859.52 : 596945.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210508.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210507.70,3642.9275,N,-12154.8700,W,1,03,00.5,069.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210509.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210508.70,3642.9276,N,-12154.8688,W,1,03,00.5,070.6,M,-99.9,M,,*4d : BluefinBatt Reply: $aaq0 d- 30.49 4.86 16.40 3.78 3.83 0 -9358.07 06:08:47 m : AshtechGps::processRecord() - $GPGGA,210510.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210509.70,3642.9276,N,-12154.8676,W,1,03,00.5,070.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210511.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210510.70,3642.9277,N,-12154.8664,W,1,03,00.5,070.0,M,-99.9,M,,*41 : TerrainNav update at nav time = 1219.996425 : TerrainNav update at dvl time = 1219.996425 : _navData-> (x,y) = (4063857.48, 596949.25) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.25 17.87 3.72 3.84 0 9195.74 06:08:50 m : AshtechGps::processRecord() - $GPGGA,210512.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210511.70,3642.9278,N,-12154.8653,W,1,03,00.5,069.8,M,-99.9,M,,*4b : Estimated North Bias at time = 1220.00 : 3.07 : Estimated East Bias at time = 1220.00 : 4.76 : Estimated Depth Bias at time = 1220.00 : -0.05 : Estimated northing and easting = 4063860.55 : 596954.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210513.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210512.70,3642.9279,N,-12154.8642,W,1,03,00.5,069.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,210514.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210513.70,3642.9280,N,-12154.8631,W,1,03,00.5,069.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210515.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210514.70,3642.9282,N,-12154.8621,W,1,03,00.5,069.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210516.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210515.70,3642.9283,N,-12154.8611,W,1,03,00.5,069.6,M,-99.9,M,,*43 : TerrainNav update at nav time = 1224.996082 : TerrainNav update at dvl time = 1224.996082 : _navData-> (x,y) = (4063858.75, 596957.11) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210517.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210516.70,3642.9285,N,-12154.8600,W,1,03,00.5,069.7,M,-99.9,M,,*47 : Estimated North Bias at time = 1225.00 : 2.42 : Estimated East Bias at time = 1225.00 : 5.46 : Estimated Depth Bias at time = 1225.00 : -0.05 : Estimated northing and easting = 4063861.17 : 596962.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210518.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210517.70,3642.9286,N,-12154.8589,W,1,03,00.5,069.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210519.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210518.70,3642.9287,N,-12154.8578,W,1,03,00.5,070.1,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.53 4.67 16.40 3.78 3.83 0 -9358.59 06:08:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210520.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210519.70,3642.9288,N,-12154.8566,W,1,03,00.5,070.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210521.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210520.70,3642.9288,N,-12154.8554,W,1,03,00.5,069.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 1229.995740 : TerrainNav update at dvl time = 1229.995740 : _navData-> (x,y) = (4063859.79, 596965.55) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.37 17.87 3.73 3.84 0 9195.30 06:09:00 m : AshtechGps::processRecord() - $GPGGA,210522.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210521.70,3642.9289,N,-12154.8543,W,1,03,00.5,070.4,M,-99.9,M,,*40 : Estimated North Bias at time = 1230.00 : 2.72 : Estimated East Bias at time = 1230.00 : 4.86 : Estimated Depth Bias at time = 1230.00 : -0.05 : Estimated northing and easting = 4063862.51 : 596970.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210523.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210522.70,3642.9290,N,-12154.8531,W,1,03,00.5,070.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210524.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210523.70,3642.9291,N,-12154.8520,W,1,03,00.5,069.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210525.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210524.70,3642.9293,N,-12154.8509,W,1,03,00.5,070.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210526.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210525.70,3642.9294,N,-12154.8498,W,1,03,00.5,069.8,M,-99.9,M,,*4b : TerrainNav update at nav time = 1234.995397 : TerrainNav update at dvl time = 1234.995397 : _navData-> (x,y) = (4063860.81, 596973.90) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210527.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210526.70,3642.9294,N,-12154.8487,W,1,03,00.5,069.4,M,-99.9,M,,*4a : Estimated North Bias at time = 1235.00 : 2.68 : Estimated East Bias at time = 1235.00 : 5.13 : Estimated Depth Bias at time = 1235.00 : -0.05 : Estimated northing and easting = 4063863.49 : 596979.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210528.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210527.70,3642.9296,N,-12154.8477,W,1,03,00.5,070.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210529.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210528.70,3642.9297,N,-12154.8466,W,1,03,00.5,069.7,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.49 4.78 16.40 3.79 3.83 0 -9358.92 06:09:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210530.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210529.70,3642.9298,N,-12154.8455,W,1,03,00.5,070.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210531.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210530.70,3642.9299,N,-12154.8444,W,1,03,00.5,070.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 1239.995055 : TerrainNav update at dvl time = 1239.995055 : _navData-> (x,y) = (4063861.87, 596981.98) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.33 17.87 3.73 3.84 0 9194.99 06:09:10 m : AshtechGps::processRecord() - $GPGGA,210532.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210531.70,3642.9300,N,-12154.8432,W,1,03,00.5,070.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1240.00 : 2.60 : Estimated East Bias at time = 1240.00 : 5.19 : Estimated Depth Bias at time = 1240.00 : -0.05 : Estimated northing and easting = 4063864.46 : 596987.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210533.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210532.70,3642.9301,N,-12154.8421,W,1,03,00.5,070.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210534.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210533.70,3642.9302,N,-12154.8410,W,1,03,00.5,069.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210535.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210534.70,3642.9302,N,-12154.8399,W,1,03,00.5,070.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210536.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210535.70,3642.9303,N,-12154.8388,W,1,03,00.5,069.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 1244.994712 : TerrainNav update at dvl time = 1244.994712 : _navData-> (x,y) = (4063862.74, 596990.29) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210537.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210536.70,3642.9304,N,-12154.8377,W,1,03,00.5,069.9,M,-99.9,M,,*46 : Estimated North Bias at time = 1244.99 : 2.92 : Estimated East Bias at time = 1244.99 : 5.47 : Estimated Depth Bias at time = 1244.99 : -0.05 : Estimated northing and easting = 4063865.66 : 596995.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210538.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210537.51,3642.9305,N,-12154.8369,W,1,03,00.5,069.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210539.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210538.51,3642.9306,N,-12154.8358,W,1,03,00.5,069.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 5.67 16.40 3.79 3.83 0 -9359.45 06:09:17 m : AshtechGps::processRecord() - $GPGGA,210540.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210539.51,3642.9308,N,-12154.8347,W,1,03,00.5,069.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210541.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210540.51,3642.9310,N,-12154.8335,W,1,03,00.5,069.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 1249.994370 : TerrainNav update at dvl time = 1249.994370 : _navData-> (x,y) = (4063864.16, 596998.46) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.03 17.87 3.73 3.84 0 9194.52 06:09:20 m : AshtechGps::processRecord() - $GPGGA,210542.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210541.51,3642.9311,N,-12154.8324,W,1,03,00.5,069.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1249.99 : 2.15 : Estimated East Bias at time = 1249.99 : 5.25 : Estimated Depth Bias at time = 1249.99 : -0.05 : Estimated northing and easting = 4063866.30 : 597003.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210543.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210542.51,3642.9312,N,-12154.8312,W,1,03,00.5,070.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210544.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210543.51,3642.9313,N,-12154.8300,W,1,03,00.5,068.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210545.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210544.51,3642.9313,N,-12154.8289,W,1,03,00.5,069.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210546.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210545.51,3642.9314,N,-12154.8279,W,1,03,00.5,069.5,M,-99.9,M,,*43 : TerrainNav update at nav time = 1254.994027 : TerrainNav update at dvl time = 1254.994027 : _navData-> (x,y) = (4063864.93, 597006.83) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210547.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210546.51,3642.9315,N,-12154.8268,W,1,03,00.5,069.4,M,-99.9,M,,*40 : Estimated North Bias at time = 1254.99 : 2.97 : Estimated East Bias at time = 1254.99 : 5.48 : Estimated Depth Bias at time = 1254.99 : -0.05 : Estimated northing and easting = 4063867.91 : 597012.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210548.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210547.51,3642.9316,N,-12154.8258,W,1,03,00.5,070.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210549.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 1301.600834) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1301.600834) Behavior ascend:-1 has changed to state Active : NMEA Update: $GPGGA,210548.51,3642.9318,N,-12154.8247,W,1,03,00.5,070.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.49 4.71 16.40 3.79 3.83 0 -9359.79 06:09:27 m : AshtechGps::processRecord() - $GPGGA,210550.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210549.51,3642.9320,N,-12154.8235,W,1,03,00.5,069.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210551.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210550.51,3642.9321,N,-12154.8224,W,1,03,00.5,069.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 1259.993685 : TerrainNav update at dvl time = 1259.993685 : _navData-> (x,y) = (4063866.44, 597015.02) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.14 17.96 3.73 3.84 0 9194.22 06:09:30 m : AshtechGps::processRecord() - $GPGGA,210552.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210551.51,3642.9322,N,-12154.8212,W,1,03,00.5,069.8,M,-99.9,M,,*43 : Estimated North Bias at time = 1259.99 : 2.08 : Estimated East Bias at time = 1259.99 : 5.06 : Estimated Depth Bias at time = 1259.99 : -0.05 : Estimated northing and easting = 4063868.51 : 597020.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210553.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210552.51,3642.9323,N,-12154.8201,W,1,03,00.5,069.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210554.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210553.51,3642.9323,N,-12154.8190,W,1,03,00.5,069.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210555.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210554.51,3642.9323,N,-12154.8180,W,1,03,00.5,069.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210556.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210555.51,3642.9324,N,-12154.8170,W,1,03,00.5,069.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1264.993342 : TerrainNav update at dvl time = 1264.993342 : _navData-> (x,y) = (4063866.96, 597022.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210557.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210556.51,3642.9324,N,-12154.8160,W,1,03,00.5,069.6,M,-99.9,M,,*4a : Estimated North Bias at time = 1264.99 : 2.64 : Estimated East Bias at time = 1264.99 : 5.80 : Estimated Depth Bias at time = 1264.99 : -0.05 : Estimated northing and easting = 4063869.60 : 597028.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210558.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210557.51,3642.9324,N,-12154.8148,W,1,03,00.5,069.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210559.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210558.51,3642.9325,N,-12154.8135,W,1,03,00.5,070.9,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.49 5.19 16.40 3.79 3.83 0 -9360.33 06:09:37 m : AshtechGps::processRecord() - $GPGGA,210600.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210559.51,3642.9325,N,-12154.8122,W,1,03,00.5,071.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210601.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210600.51,3642.9326,N,-12154.8109,W,1,03,00.5,070.2,M,-99.9,M,,*4b : TerrainNav update at nav time = 1270.002999 : TerrainNav update at dvl time = 1270.002999 : _navData-> (x,y) = (4063867.45, 597032.08) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.91 17.96 3.73 3.84 0 9193.80 06:09:40 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210602.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210601.51,3642.9326,N,-12154.8098,W,1,03,00.5,071.7,M,-99.9,M,,*47 : Estimated North Bias at time = 1270.00 : 2.61 : Estimated East Bias at time = 1270.00 : 4.35 : Estimated Depth Bias at time = 1270.00 : -0.05 : Estimated northing and easting = 4063870.06 : 597036.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210603.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210602.51,3642.9327,N,-12154.8087,W,1,03,00.5,071.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210604.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210603.51,3642.9329,N,-12154.8078,W,1,03,00.5,071.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210605.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210604.51,3642.9330,N,-12154.8069,W,1,03,00.5,070.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210606.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210605.51,3642.9331,N,-12154.8058,W,1,03,00.5,072.0,M,-99.9,M,,*4d : TerrainNav update at nav time = 1275.002656 : TerrainNav update at dvl time = 1275.002656 : _navData-> (x,y) = (4063868.48, 597039.63) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210607.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210606.51,3642.9332,N,-12154.8047,W,1,03,00.5,071.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1275.00 : 2.24 : Estimated East Bias at time = 1275.00 : 5.34 : Estimated Depth Bias at time = 1275.00 : -0.05 : Estimated northing and easting = 4063870.72 : 597044.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210608.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210607.51,3642.9332,N,-12154.8035,W,1,03,00.5,072.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210609.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210608.51,3642.9333,N,-12154.8022,W,1,03,00.5,072.2,M,-99.9,M,,*4d : BluefinBatt Reply: $aaq0 d- 30.45 5.60 16.40 3.79 3.83 0 -9360.69 06:09:47 m : AshtechGps::processRecord() - $GPGGA,210610.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210609.51,3642.9334,N,-12154.8010,W,1,03,00.5,072.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210611.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210610.51,3642.9335,N,-12154.7997,W,1,03,00.5,072.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 1280.002314 : TerrainNav update at dvl time = 1280.002314 : _navData-> (x,y) = (4063869.30, 597048.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.14 17.96 3.73 3.84 0 9193.47 06:09:50 m : AshtechGps::processRecord() - $GPGGA,210612.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210611.51,3642.9336,N,-12154.7986,W,1,03,00.5,071.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1280.00 : 2.29 : Estimated East Bias at time = 1280.00 : 4.32 : Estimated Depth Bias at time = 1280.00 : -0.05 : Estimated northing and easting = 4063871.59 : 597053.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210613.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210612.51,3642.9337,N,-12154.7976,W,1,03,00.5,072.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210614.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210613.51,3642.9338,N,-12154.7965,W,1,03,00.5,073.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210615.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210614.51,3642.9338,N,-12154.7954,W,1,03,00.5,073.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210616.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210615.51,3642.9339,N,-12154.7943,W,1,03,00.5,073.5,M,-99.9,M,,*4c : TerrainNav update at nav time = 1285.001971 : TerrainNav update at dvl time = 1285.001971 : _navData-> (x,y) = (4063870.12, 597056.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210617.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210616.51,3642.9339,N,-12154.7930,W,1,03,00.5,074.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : Estimated North Bias at time = 1285.00 : 2.50 : Estimated East Bias at time = 1285.00 : 4.90 : Estimated Depth Bias at time = 1285.00 : -0.05 : Estimated northing and easting = 4063872.61 : 597061.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210618.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210617.51,3642.9340,N,-12154.7918,W,1,03,00.5,073.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210619.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210618.51,3642.9342,N,-12154.7906,W,1,03,00.5,074.1,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.49 4.93 16.40 3.79 3.83 0 -9361.21 06:09:57 m : AshtechGps::processRecord() - $GPGGA,210620.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210619.51,3642.9343,N,-12154.7896,W,1,03,00.5,073.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210621.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210620.51,3642.9345,N,-12154.7885,W,1,03,00.5,073.3,M,-99.9,M,,*4c : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4063871.34, 597065.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.07 17.96 3.73 3.84 0 9192.97 06:10:00 m : AshtechGps::processRecord() - $GPGGA,210622.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210621.51,3642.9346,N,-12154.7875,W,1,03,00.5,073.5,M,-99.9,M,,*47 : Estimated North Bias at time = 1290.00 : 1.67 : Estimated East Bias at time = 1290.00 : 5.73 : Estimated Depth Bias at time = 1290.00 : -0.05 : Estimated northing and easting = 4063873.02 : 597071.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210623.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210622.51,3642.9346,N,-12154.7863,W,1,03,00.5,074.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210624.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210623.51,3642.9347,N,-12154.7851,W,1,03,00.5,073.8,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210625.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210624.51,3642.9347,N,-12154.7839,W,1,03,00.5,074.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210626.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210625.51,3642.9347,N,-12154.7826,W,1,03,00.5,074.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 1295.001287 : TerrainNav update at dvl time = 1295.001287 : _navData-> (x,y) = (4063871.93, 597074.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210627.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210626.51,3642.9348,N,-12154.7813,W,1,03,00.5,074.6,M,-99.9,M,,*4a : Estimated North Bias at time = 1295.00 : 2.12 : Estimated East Bias at time = 1295.00 : 4.70 : Estimated Depth Bias at time = 1295.00 : -0.05 : Estimated northing and easting = 4063874.05 : 597078.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210628.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210627.51,3642.9349,N,-12154.7801,W,1,03,00.5,076.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210629.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210628.51,3642.9350,N,-12154.7791,W,1,03,00.5,075.0,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.49 4.64 16.40 3.79 3.83 0 -9361.56 06:10:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210630.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210629.51,3642.9351,N,-12154.7780,W,1,03,00.5,074.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210631.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210630.51,3642.9352,N,-12154.7769,W,1,03,00.5,075.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1300.000944 : TerrainNav update at dvl time = 1300.000944 : _navData-> (x,y) = (4063872.87, 597082.59) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.79 17.96 3.73 3.84 0 9192.70 06:10:10 m : AshtechGps::processRecord() - $GPGGA,210632.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210631.51,3642.9352,N,-12154.7758,W,1,03,00.5,075.3,M,-99.9,M,,*43 : Estimated North Bias at time = 1300.00 : 1.55 : Estimated East Bias at time = 1300.00 : 5.94 : Estimated Depth Bias at time = 1300.00 : -0.05 : Estimated northing and easting = 4063874.42 : 597088.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=1.57 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210633.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 1345.597820) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1345.597820) Behavior getgps:-1 has changed to state Active : NMEA Update: $GPGGA,210632.51,3642.9354,N,-12154.7746,W,1,03,00.5,075.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210634.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210633.51,3642.9355,N,-12154.7734,W,1,03,00.5,076.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210635.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210634.51,3642.9356,N,-12154.7721,W,1,03,00.5,076.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210636.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210635.51,3642.9356,N,-12154.7709,W,1,03,00.5,076.7,M,-99.9,M,,*40 : TerrainNav update at nav time = 1305.000602 : TerrainNav update at dvl time = 1305.000602 : _navData-> (x,y) = (4063873.76, 597091.55) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210637.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210636.51,3642.9357,N,-12154.7699,W,1,03,00.5,077.0,M,-99.9,M,,*4c : Estimated North Bias at time = 1305.00 : 1.17 : Estimated East Bias at time = 1305.00 : 5.31 : Estimated Depth Bias at time = 1305.00 : -0.05 : Estimated northing and easting = 4063874.93 : 597096.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210638.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210637.51,3642.9359,N,-12154.7689,W,1,03,00.5,076.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210639.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210638.51,3642.9360,N,-12154.7679,W,1,03,00.5,078.0,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.68 1.59 16.40 3.79 3.83 0 -9361.95 06:10:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210640.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210639.51,3642.9363,N,-12154.7669,W,1,03,00.5,077.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210641.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210640.51,3642.9367,N,-12154.7662,W,1,03,00.5,077.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 1310.000259 : TerrainNav update at dvl time = 1310.000259 : _navData-> (x,y) = (4063875.99, 597098.39) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.82 0.75 17.87 3.75 3.86 0 9192.46 06:10:20 m : AshtechGps::processRecord() - $GPGGA,210642.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210641.51,3642.9372,N,-12154.7656,W,1,03,00.5,075.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 1310.00 : -0.25 : Estimated East Bias at time = 1310.00 : 6.04 : Estimated Depth Bias at time = 1310.00 : -0.05 : Estimated northing and easting = 4063875.74 : 597104.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,210643.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210642.51,3642.9376,N,-12154.7651,W,1,03,00.5,075.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210644.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210643.51,3642.9379,N,-12154.7645,W,1,03,00.5,077.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210645.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210644.51,3642.9381,N,-12154.7639,W,1,03,00.5,077.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210646.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210645.51,3642.9385,N,-12154.7634,W,1,03,00.5,076.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 1314.999917 : TerrainNav update at dvl time = 1314.999917 : _navData-> (x,y) = (4063879.32, 597102.44) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210647.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210646.51,3642.9388,N,-12154.7630,W,1,03,00.5,076.9,M,-99.9,M,,*42 : Estimated North Bias at time = 1315.00 : 0.74 : Estimated East Bias at time = 1315.00 : 6.14 : Estimated Depth Bias at time = 1315.00 : -0.05 : Estimated northing and easting = 4063880.06 : 597108.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210648.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210647.51,3642.9392,N,-12154.7626,W,1,03,00.5,076.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210649.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210648.51,3642.9395,N,-12154.7624,W,1,03,00.5,076.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.64 2.15 16.40 3.81 3.85 0 -9362.08 06:10:27 m : AshtechGps::processRecord() - $GPGGA,210650.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210649.51,3642.9399,N,-12154.7622,W,1,03,00.5,076.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210651.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210650.51,3642.9402,N,-12154.7620,W,1,03,00.5,076.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 1319.999574 : TerrainNav update at dvl time = 1319.999574 : _navData-> (x,y) = (4063882.51, 597104.36) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.82 0.75 17.87 3.75 3.86 0 9192.36 06:10:30 m : AshtechGps::processRecord() - $GPGGA,210652.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210651.50,3642.9405,N,-12154.7619,W,1,03,00.5,077.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 1320.00 : 1.27 : Estimated East Bias at time = 1320.00 : 7.46 : Estimated Depth Bias at time = 1320.00 : -0.05 : Estimated northing and easting = 4063883.78 : 597111.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.780000 : AshtechGps::processRecord() - $GPGGA,210653.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210652.50,3642.9407,N,-12154.7616,W,1,03,00.5,076.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210654.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210653.50,3642.9409,N,-12154.7615,W,1,03,00.5,077.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210655.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210654.50,3642.9412,N,-12154.7616,W,1,03,00.5,076.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210656.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210655.50,3642.9415,N,-12154.7614,W,1,03,00.5,077.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 1324.999231 : TerrainNav update at dvl time = 1324.999231 : _navData-> (x,y) = (4063884.86, 597105.29) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210657.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210656.50,3642.9418,N,-12154.7612,W,1,03,00.5,078.4,M,-99.9,M,,*4f : Estimated North Bias at time = 1325.00 : 1.99 : Estimated East Bias at time = 1325.00 : 7.63 : Estimated Depth Bias at time = 1325.00 : -0.05 : Estimated northing and easting = 4063886.85 : 597112.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210658.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210657.50,3642.9422,N,-12154.7611,W,1,03,00.5,077.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210659.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210658.50,3642.9423,N,-12154.7610,W,1,03,00.5,076.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.72 1.11 16.40 3.81 3.85 0 -9362.25 06:10:37 m : AshtechGps::processRecord() - $GPGGA,210700.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210659.50,3642.9424,N,-12154.7609,W,1,03,00.5,078.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210701.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210700.50,3642.9425,N,-12154.7609,W,1,03,00.5,077.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 1329.998889 : TerrainNav update at dvl time = 1329.998889 : _navData-> (x,y) = (4063886.74, 597105.95) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.82 1.32 17.87 3.75 3.86 0 9192.25 06:10:40 m : AshtechGps::processRecord() - $GPGGA,210702.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,210701.50,3642.9426,N,-12154.7607,W,1,03,00.5,076.8,M,-99.9,M,,*47 : Estimated North Bias at time = 1330.00 : 2.80 : Estimated East Bias at time = 1330.00 : 8.80 : Estimated Depth Bias at time = 1330.00 : -0.05 : Estimated northing and easting = 4063889.54 : 597114.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.780000 : AshtechGps::processRecord() - $GPGGA,210703.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210702.50,3642.9427,N,-12154.7605,W,1,03,00.5,079.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210704.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210703.50,3642.9429,N,-12154.7606,W,1,03,00.5,076.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210705.00,3643.03250,N,12154.78497,W,1,09,1.1,-5.16,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : NMEA Update: $GPGGA,210704.50,3642.9431,N,-12154.7608,W,1,03,00.5,078.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210706.00,3643.03268,N,12154.78533,W,1,09,1.1,-5.78,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,210705.50,3643.0325,N,-12154.7850,W,1,03,00.5,077.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1334.998546 : TerrainNav update at dvl time = 1334.998546 : _navData-> (x,y) = (4064052.99, 597067.67) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1335.00 : 2.85 : Estimated East Bias at time = 1335.00 : 8.77 : Estimated Depth Bias at time = 1335.00 : -0.05 : Estimated northing and easting = 4064055.84 : 597076.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210707.00,3643.03296,N,12154.78449,W,1,09,1.1,-5.26,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : NMEA Update: $GPGGA,210706.50,3643.0328,N,-12154.7854,W,1,03,00.5,074.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210708.00,3643.03323,N,12154.78447,W,1,11,0.8,-6.07,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : NMEA Update: $GPGGA,210707.50,3643.0330,N,-12154.7844,W,1,03,00.5,077.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210709.00,3643.03328,N,12154.78420,W,1,12,0.7,-5.97,M,-32.59,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,210708.50,3643.0332,N,-12154.7844,W,1,03,00.5,079.1,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.68 1.51 16.40 3.82 3.86 0 -9362.35 06:10:47 m : AshtechGps::processRecord() - $GPGGA,210710.00,3643.03314,N,12154.78427,W,1,12,0.7,-5.95,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,210709.50,3643.0333,N,-12154.7842,W,1,03,00.5,077.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210711.00,3643.03344,N,12154.78421,W,1,12,0.7,-6.29,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : NMEA Update: $GPGGA,210710.50,3643.0332,N,-12154.7842,W,1,03,00.5,078.6,M,-99.9,M,,*42 : TerrainNav update at nav time = 1339.998204 : TerrainNav update at dvl time = 1339.998204 : _navData-> (x,y) = (4064054.39, 597069.40) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1340.00 : 2.86 : Estimated East Bias at time = 1340.00 : 8.78 : Estimated Depth Bias at time = 1340.00 : -0.05 : Estimated northing and easting = 4064057.26 : 597078.18 : BluefinBatt Reply: $b3q0 d- 30.82 0.87 17.87 3.75 3.86 0 9192.18 06:10:50 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210712.00,3643.03352,N,12154.78431,W,1,12,0.7,-5.88,M,-32.59,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : NMEA Update: $GPGGA,210711.50,3643.0335,N,-12154.7843,W,1,03,00.5,077.1,M,-99.9,M,,*4d : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.785000 : AshtechGps::processRecord() - $GPGGA,210713.00,3643.03348,N,12154.78438,W,1,12,0.7,-5.83,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,210712.50,3643.0335,N,-12154.7843,W,1,03,00.5,079.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,210714.00,3643.03353,N,12154.78455,W,1,12,0.7,-5.76,M,-32.59,M,,*7E : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 1386.595012) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1386.595012) Behavior descend:-1 has changed to state Active : NMEA Update: $GPGGA,210713.50,3643.0335,N,-12154.7844,W,1,03,00.5,078.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210715.00,3643.03362,N,12154.78438,W,1,12,0.7,-5.16,M,-32.59,M,,*70 : NMEA Update: $GPGGA,210714.50,3643.0335,N,-12154.7846,W,1,03,00.5,077.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210716.00,3643.03363,N,12154.78417,W,1,12,0.7,-5.05,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210715.50,3643.0336,N,-12154.7843,W,1,03,00.5,077.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 1344.997861 : TerrainNav update at dvl time = 1344.997861 : _navData-> (x,y) = (4064054.73, 597069.50) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1345.00 : 2.82 : Estimated East Bias at time = 1345.00 : 8.81 : Estimated Depth Bias at time = 1345.00 : -0.05 : Estimated northing and easting = 4064057.55 : 597078.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210717.00,3643.03376,N,12154.78394,W,1,12,0.7,-5.30,M,-32.59,M,,*72 : NMEA Update: $GPGGA,210716.50,3643.0337,N,-12154.7841,W,1,03,00.5,078.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210718.00,3643.03395,N,12154.78399,W,1,12,0.7,-5.85,M,-32.59,M,,*73 : NMEA Update: $GPGGA,210717.50,3643.0338,N,-12154.7839,W,1,03,00.5,077.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210719.00,3643.03418,N,12154.78424,W,1,12,0.7,-5.85,M,-32.59,M,,*71 : NMEA Update: $GPGGA,210718.50,3643.0340,N,-12154.7841,W,1,03,00.5,077.2,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.57 4.00 16.40 3.82 3.86 0 -9362.60 06:10:57 m : AshtechGps::processRecord() - $GPGGA,210720.00,3643.03419,N,12154.78440,W,1,12,0.7,-5.76,M,-32.59,M,,*74 : NMEA Update: $GPGGA,210719.50,3643.0342,N,-12154.7843,W,1,03,00.5,078.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210721.00,3643.03438,N,12154.78472,W,1,12,0.7,-5.82,M,-32.59,M,,*7C : NMEA Update: $GPGGA,210720.50,3643.0342,N,-12154.7845,W,1,03,00.5,078.7,M,-99.9,M,,*40 : TerrainNav update at nav time = 1349.997519 : TerrainNav update at dvl time = 1349.997519 : _navData-> (x,y) = (4064056.11, 597068.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1350.00 : 2.83 : Estimated East Bias at time = 1350.00 : 8.86 : Estimated Depth Bias at time = 1350.00 : -0.05 : Estimated northing and easting = 4064058.94 : 597077.35 : BluefinBatt Reply: $b3q0 d- 30.63 3.76 17.77 3.73 3.84 0 9191.91 06:11:00 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210722.00,3643.03457,N,12154.78492,W,1,12,0.7,-5.47,M,-32.59,M,,*71 : NMEA Update: $GPGGA,210721.50,3643.0344,N,-12154.7848,W,1,03,00.5,076.9,M,-99.9,M,,*4a : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,210723.00,3643.03449,N,12154.78492,W,1,12,0.7,-4.97,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210722.50,3643.0346,N,-12154.7849,W,1,03,00.5,078.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210724.00,3643.03463,N,12154.78490,W,1,12,0.7,-4.87,M,-32.59,M,,*7F : NMEA Update: $GPGGA,210723.50,3643.0345,N,-12154.7849,W,1,03,00.5,078.5,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210725.00,3643.03472,N,12154.78495,W,1,12,0.7,-4.97,M,-32.59,M,,*7A : NMEA Update: $GPGGA,210724.50,3643.0346,N,-12154.7849,W,1,03,00.5,078.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210726.00,3643.03489,N,12154.78518,W,1,12,0.7,-5.48,M,-32.59,M,,*7A : NMEA Update: $GPGGA,210725.50,3643.0347,N,-12154.7850,W,1,03,00.5,079.1,M,-99.9,M,,*43 : TerrainNav update at nav time = 1354.997176 : TerrainNav update at dvl time = 1354.997176 : _navData-> (x,y) = (4064057.00, 597067.82) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1355.00 : 2.82 : Estimated East Bias at time = 1355.00 : 8.89 : Estimated Depth Bias at time = 1355.00 : -0.05 : Estimated northing and easting = 4064059.81 : 597076.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210727.00,3643.03488,N,12154.78547,W,1,12,0.7,-5.77,M,-32.59,M,,*7C : NMEA Update: $GPGGA,210726.50,3643.0348,N,-12154.7852,W,1,03,00.5,077.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210728.00,3643.03506,N,12154.78587,W,1,12,0.7,-5.84,M,-32.59,M,,*74 : NMEA Update: $GPGGA,210727.50,3643.0348,N,-12154.7855,W,1,03,00.5,077.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210729.00,3643.03497,N,12154.78624,W,1,12,0.7,-5.83,M,-32.59,M,,*71 : NMEA Update: $GPGGA,210728.50,3643.0350,N,-12154.7859,W,1,03,00.5,077.3,M,-99.9,M,,*4d : BluefinBatt Reply: $aaq0 d- 30.45 5.93 16.40 3.80 3.84 0 -9362.91 06:11:07 m : AshtechGps::processRecord() - $GPGGA,210730.00,3643.03499,N,12154.78686,W,1,12,0.7,-6.15,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210729.50,3643.0349,N,-12154.7863,W,1,03,00.5,075.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210731.00,3643.03486,N,12154.78734,W,1,12,0.7,-5.86,M,-32.59,M,,*7D : NMEA Update: $GPGGA,210730.50,3643.0349,N,-12154.7870,W,1,03,00.5,077.5,M,-99.9,M,,*41 : TerrainNav update at nav time = 1359.996834 : TerrainNav update at dvl time = 1359.996834 : _navData-> (x,y) = (4064056.82, 597064.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1360.00 : 2.77 : Estimated East Bias at time = 1360.00 : 8.81 : Estimated Depth Bias at time = 1360.00 : -0.05 : Estimated northing and easting = 4064059.60 : 597073.35 : BluefinBatt Reply: $b3q0 d- 30.60 4.60 17.77 3.73 3.84 0 9191.58 06:11:10 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210732.00,3643.03469,N,12154.78783,W,1,12,0.7,-5.59,M,-32.59,M,,*71 : NMEA Update: $GPGGA,210731.50,3643.0348,N,-12154.7874,W,1,03,00.5,078.7,M,-99.9,M,,*48 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210733.00,3643.03435,N,12154.78824,W,1,12,0.7,-5.43,M,-32.59,M,,*70 : NMEA Update: $GPGGA,210732.50,3643.0346,N,-12154.7879,W,1,03,00.5,077.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210734.00,3643.03407,N,12154.78875,W,1,12,0.7,-5.37,M,-32.59,M,,*71 : NMEA Update: $GPGGA,210733.50,3643.0342,N,-12154.7882,W,1,03,00.5,077.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210735.00,3643.03373,N,12154.78889,W,1,12,0.7,-4.95,M,-32.59,M,,*7E : NMEA Update: $GPGGA,210734.50,3643.0340,N,-12154.7887,W,1,03,00.5,077.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210736.00,3643.03324,N,12154.78892,W,1,12,0.7,-4.90,M,-32.59,M,,*70 : NMEA Update: $GPGGA,210735.50,3643.0336,N,-12154.7888,W,1,03,00.5,079.1,M,-99.9,M,,*41 : TerrainNav update at nav time = 1364.996491 : TerrainNav update at dvl time = 1364.996491 : _navData-> (x,y) = (4064053.77, 597062.42) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1365.00 : 2.80 : Estimated East Bias at time = 1365.00 : 8.78 : Estimated Depth Bias at time = 1365.00 : -0.05 : Estimated northing and easting = 4064056.56 : 597071.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210737.00,3643.03280,N,12154.78911,W,1,12,0.7,-5.41,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210736.50,3643.0331,N,-12154.7888,W,1,03,00.5,077.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210738.00,3643.03246,N,12154.78939,W,1,12,0.7,-5.71,M,-32.59,M,,*75 : NMEA Update: $GPGGA,210737.50,3643.0327,N,-12154.7890,W,1,03,00.5,077.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210739.00,3643.03199,N,12154.78947,W,1,12,0.7,-5.52,M,-32.59,M,,*7D : NMEA Update: $GPGGA,210738.50,3643.0324,N,-12154.7894,W,1,03,00.5,079.5,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.45 5.34 16.40 3.80 3.84 0 -9363.44 06:11:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210740.00,3643.03141,N,12154.78963,W,1,12,0.7,-5.28,M,-32.59,M,,*7D : NMEA Update: $GPGGA,210739.50,3643.0319,N,-12154.7894,W,1,03,00.5,077.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210741.00,3643.03080,N,12154.78957,W,1,12,0.7,-5.50,M,-32.59,M,,*78 : NMEA Update: $GPGGA,210740.50,3643.0313,N,-12154.7896,W,1,03,00.5,076.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1369.996149 : TerrainNav update at dvl time = 1369.996149 : _navData-> (x,y) = (4064049.20, 597061.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1370.00 : 2.80 : Estimated East Bias at time = 1370.00 : 8.73 : Estimated Depth Bias at time = 1370.00 : -0.05 : Estimated northing and easting = 4064052.00 : 597070.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.79 17.87 3.73 3.84 0 9191.14 06:11:20 m : AshtechGps::processRecord() - $GPGGA,210742.00,3643.03028,N,12154.78945,W,1,12,0.7,-5.28,M,-32.59,M,,*75 : NMEA Update: $GPGGA,210741.50,3643.0307,N,-12154.7895,W,1,03,00.5,078.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,210743.00,3643.02966,N,12154.78917,W,1,12,0.7,-5.31,M,-32.59,M,,*79 : NMEA Update: $GPGGA,210742.50,3643.0302,N,-12154.7893,W,1,03,00.5,078.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210744.00,3643.02902,N,12154.78888,W,1,12,0.7,-5.56,M,-32.59,M,,*7A : NMEA Update: $GPGGA,210743.50,3643.0296,N,-12154.7890,W,1,03,00.5,078.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,210745.00,3643.02848,N,12154.78837,W,1,12,0.7,-5.27,M,-32.59,M,,*76 : NMEA Update: $GPGGA,210744.50,3643.0289,N,-12154.7888,W,1,03,00.5,077.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210746.00,3643.02789,N,12154.78786,W,1,12,0.7,-5.29,M,-32.59,M,,*7C : NMEA Update: $GPGGA,210745.50,3643.0284,N,-12154.7883,W,1,03,00.5,079.1,M,-99.9,M,,*45 : TerrainNav update at nav time = 1374.995806 : TerrainNav update at dvl time = 1374.995806 : _navData-> (x,y) = (4064043.86, 597064.20) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1375.00 : 2.79 : Estimated East Bias at time = 1375.00 : 8.72 : Estimated Depth Bias at time = 1375.00 : -0.05 : Estimated northing and easting = 4064046.66 : 597072.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210747.00,3643.02740,N,12154.78741,W,1,12,0.7,-5.73,M,-32.59,M,,*7C : NMEA Update: $GPGGA,210746.50,3643.0278,N,-12154.7877,W,1,03,00.5,079.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,210748.00,3643.02698,N,12154.78695,W,1,12,0.7,-5.57,M,-32.59,M,,*79 : NMEA Update: $GPGGA,210747.50,3643.0273,N,-12154.7873,W,1,03,00.5,077.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210749.00,3643.02655,N,12154.78659,W,1,12,0.7,-5.67,M,-32.59,M,,*7A : NMEA Update: $GPGGA,210748.50,3643.0269,N,-12154.7868,W,1,03,00.5,079.2,M,-99.9,M,,*4d : BluefinBatt Reply: $aaq0 d- 30.57 3.97 16.40 3.79 3.83 0 -9363.76 06:11:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210750.00,3643.02627,N,12154.78608,W,1,12,0.7,-5.67,M,-32.59,M,,*73 : NMEA Update: $GPGGA,210749.50,3643.0265,N,-12154.7865,W,1,03,00.5,078.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210751.00,3643.02590,N,12154.78554,W,1,12,0.7,-5.27,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210750.50,3643.0262,N,-12154.7860,W,1,03,00.5,077.0,M,-99.9,M,,*4b : TerrainNav update at nav time = 1379.995464 : TerrainNav update at dvl time = 1379.995464 : _navData-> (x,y) = (4064040.33, 597067.69) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1380.00 : 2.69 : Estimated East Bias at time = 1380.00 : 8.73 : Estimated Depth Bias at time = 1380.00 : -0.05 : Estimated northing and easting = 4064043.02 : 597076.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.68 17.87 3.73 3.84 0 9190.86 06:11:30 m : AshtechGps::processRecord() - $GPGGA,210752.00,3643.02551,N,12154.78482,W,1,12,0.7,-4.82,M,-32.59,M,,*79 : NMEA Update: $GPGGA,210751.50,3643.0258,N,-12154.7854,W,1,03,00.5,079.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210753.00,3643.02497,N,12154.78390,W,1,12,0.7,-4.67,M,-32.59,M,,*7C : NMEA Update: $GPGGA,210752.50,3643.0254,N,-12154.7846,W,1,03,00.5,078.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210754.00,3643.02456,N,12154.78287,W,1,12,0.7,-4.95,M,-32.59,M,,*7C : NMEA Update: $GPGGA,210753.50,3643.0249,N,-12154.7837,W,1,03,00.5,079.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,210755.00,3643.02337,N,12154.78187,W,1,12,0.7,-3.33,M,-32.59,M,,*75 : NMEA Update: $GPGGA,210754.50,3643.0245,N,-12154.7827,W,1,03,00.5,079.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210756.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210755.50,3643.0233,N,-12154.7817,W,1,03,00.5,077.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 1384.995121 : TerrainNav update at dvl time = 1384.995121 : _navData-> (x,y) = (4064035.56, 597073.57) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210757.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210756.50,3643.0230,N,-12154.7811,W,1,03,00.5,079.5,M,-99.9,M,,*47 : Estimated North Bias at time = 1385.00 : 5.51 : Estimated East Bias at time = 1385.00 : 6.34 : Estimated Depth Bias at time = 1385.00 : -0.05 : Estimated northing and easting = 4064041.07 : 597079.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210758.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210757.50,3643.0227,N,-12154.7805,W,1,03,00.5,074.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210759.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210758.50,3643.0226,N,-12154.7799,W,1,03,00.5,077.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 5.64 16.40 3.79 3.83 0 -9364.22 06:11:37 m : AshtechGps::processRecord() - $GPGGA,210800.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210759.50,3643.0224,N,-12154.7794,W,1,03,00.5,077.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210801.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210800.50,3643.0221,N,-12154.7788,W,1,03,00.5,076.2,M,-99.9,M,,*4c : TerrainNav update at nav time = 1389.994779 : TerrainNav update at dvl time = 1389.994779 : _navData-> (x,y) = (4064033.41, 597077.88) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 5.40 17.87 3.72 3.84 0 9190.42 06:11:40 m : AshtechGps::processRecord() - $GPGGA,210802.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210801.50,3643.0218,N,-12154.7782,W,1,03,00.5,075.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1389.99 : 4.41 : Estimated East Bias at time = 1389.99 : 6.14 : Estimated Depth Bias at time = 1389.99 : -0.05 : Estimated northing and easting = 4064037.82 : 597084.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210803.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210802.50,3643.0213,N,-12154.7774,W,1,03,00.5,076.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210804.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210803.51,3643.0208,N,-12154.7765,W,1,03,00.5,077.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210805.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210804.51,3643.0203,N,-12154.7755,W,1,03,00.5,075.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210806.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210805.51,3643.0199,N,-12154.7745,W,1,03,00.5,074.6,M,-99.9,M,,*4f : TerrainNav update at nav time = 1394.994437 : TerrainNav update at dvl time = 1394.994437 : _navData-> (x,y) = (4064029.32, 597084.36) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210807.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210806.51,3643.0195,N,-12154.7736,W,1,03,00.5,075.5,M,-99.9,M,,*46 : Estimated North Bias at time = 1394.99 : 5.76 : Estimated East Bias at time = 1394.99 : 4.14 : Estimated Depth Bias at time = 1394.99 : -0.05 : Estimated northing and easting = 4064035.09 : 597088.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210808.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210807.51,3643.0190,N,-12154.7727,W,1,03,00.5,075.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210809.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210808.51,3643.0185,N,-12154.7718,W,1,03,00.5,074.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 5.64 16.40 3.78 3.83 0 -9364.60 06:11:47 m : AshtechGps::processRecord() - $GPGGA,210810.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210809.51,3643.0181,N,-12154.7709,W,1,03,00.5,073.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210811.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210810.51,3643.0177,N,-12154.7701,W,1,03,00.5,074.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 1399.994094 : TerrainNav update at dvl time = 1399.994094 : _navData-> (x,y) = (4064025.33, 597090.99) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.64 17.87 3.72 3.84 0 9190.10 06:11:50 m : AshtechGps::processRecord() - $GPGGA,210812.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210811.51,3643.0172,N,-12154.7692,W,1,03,00.5,074.1,M,-99.9,M,,*43 : Estimated North Bias at time = 1399.99 : 5.78 : Estimated East Bias at time = 1399.99 : 4.17 : Estimated Depth Bias at time = 1399.99 : -0.05 : Estimated northing and easting = 4064031.11 : 597095.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,210813.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210812.51,3643.0167,N,-12154.7684,W,1,03,00.5,073.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210814.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210813.51,3643.0162,N,-12154.7677,W,1,03,00.5,073.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210815.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210814.51,3643.0157,N,-12154.7669,W,1,03,00.5,073.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210816.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210815.51,3643.0152,N,-12154.7659,W,1,03,00.5,073.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1404.993752 : TerrainNav update at dvl time = 1404.993752 : _navData-> (x,y) = (4064020.82, 597097.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210817.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210816.51,3643.0147,N,-12154.7649,W,1,03,00.5,074.0,M,-99.9,M,,*45 : Estimated North Bias at time = 1404.99 : 6.04 : Estimated East Bias at time = 1404.99 : 4.29 : Estimated Depth Bias at time = 1404.99 : -0.05 : Estimated northing and easting = 4064026.86 : 597101.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210818.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210817.51,3643.0143,N,-12154.7638,W,1,03,00.5,073.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210819.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210818.51,3643.0139,N,-12154.7629,W,1,03,00.5,072.4,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.49 5.08 16.40 3.78 3.83 0 -9365.15 06:11:57 m : AshtechGps::processRecord() - $GPGGA,210820.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210819.51,3643.0134,N,-12154.7621,W,1,03,00.5,071.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210821.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210820.51,3643.0130,N,-12154.7613,W,1,03,00.5,072.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 1409.993409 : TerrainNav update at dvl time = 1409.993409 : _navData-> (x,y) = (4064016.73, 597104.22) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.33 17.87 3.73 3.84 0 9189.64 06:12:00 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210822.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210821.51,3643.0125,N,-12154.7604,W,1,03,00.5,072.2,M,-99.9,M,,*48 : Estimated North Bias at time = 1409.99 : 5.50 : Estimated East Bias at time = 1409.99 : 5.21 : Estimated Depth Bias at time = 1409.99 : -0.05 : Estimated northing and easting = 4064022.23 : 597109.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210823.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210822.51,3643.0120,N,-12154.7596,W,1,03,00.5,071.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210824.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210823.51,3643.0115,N,-12154.7586,W,1,03,00.5,072.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on depth 8.035986 > 8.000000 at time 1457.400161 : LayeredControl::execute() -- (t = 1457.400161) Behavior descend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1457.400161) Behavior setpoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,210825.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210824.51,3643.0110,N,-12154.7576,W,1,03,00.5,072.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,210826.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210825.51,3643.0105,N,-12154.7566,W,1,03,00.5,070.7,M,-99.9,M,,*4e : TerrainNav update at nav time = 1414.993067 : TerrainNav update at dvl time = 1414.993067 : _navData-> (x,y) = (4064012.21, 597111.28) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210827.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210826.51,3643.0099,N,-12154.7555,W,1,03,00.5,071.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1414.99 : 5.55 : Estimated East Bias at time = 1414.99 : 4.18 : Estimated Depth Bias at time = 1414.99 : -0.05 : Estimated northing and easting = 4064017.76 : 597115.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210828.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210827.51,3643.0094,N,-12154.7546,W,1,03,00.5,070.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210829.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210828.51,3643.0088,N,-12154.7537,W,1,03,00.5,070.0,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.49 5.19 16.40 3.79 3.83 0 -9365.52 06:12:07 m : AshtechGps::processRecord() - $GPGGA,210830.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210829.51,3643.0083,N,-12154.7529,W,1,03,00.5,069.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210831.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210830.51,3643.0078,N,-12154.7521,W,1,03,00.5,069.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 1420.002723 : TerrainNav update at dvl time = 1420.002723 : _navData-> (x,y) = (4064007.26, 597117.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.48 17.87 3.73 3.84 0 9189.33 06:12:10 m : AshtechGps::processRecord() - $GPGGA,210832.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210831.51,3643.0073,N,-12154.7513,W,1,03,00.5,069.6,M,-99.9,M,,*40 : Estimated North Bias at time = 1420.00 : 5.65 : Estimated East Bias at time = 1420.00 : 5.35 : Estimated Depth Bias at time = 1420.00 : -0.05 : Estimated northing and easting = 4064012.91 : 597123.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,210833.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210832.51,3643.0068,N,-12154.7505,W,1,03,00.5,070.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,210834.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210833.51,3643.0063,N,-12154.7496,W,1,03,00.5,069.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210835.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210834.51,3643.0058,N,-12154.7486,W,1,03,00.5,070.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210836.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210835.51,3643.0052,N,-12154.7477,W,1,03,00.5,070.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 1425.002381 : TerrainNav update at dvl time = 1425.002381 : _navData-> (x,y) = (4064002.67, 597124.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210837.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210836.51,3643.0047,N,-12154.7467,W,1,03,00.5,069.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1425.00 : 5.70 : Estimated East Bias at time = 1425.00 : 4.24 : Estimated Depth Bias at time = 1425.00 : -0.05 : Estimated northing and easting = 4064008.37 : 597128.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210838.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210837.51,3643.0042,N,-12154.7458,W,1,03,00.5,070.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210839.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210838.51,3643.0037,N,-12154.7450,W,1,03,00.5,070.1,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.45 5.53 16.40 3.79 3.83 0 -9366.05 06:12:17 m : AshtechGps::processRecord() - $GPGGA,210840.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210839.51,3643.0031,N,-12154.7441,W,1,03,00.5,070.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,210841.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210840.51,3643.0026,N,-12154.7432,W,1,03,00.5,070.2,M,-99.9,M,,*48 : TerrainNav update at nav time = 1430.002038 : TerrainNav update at dvl time = 1430.002038 : _navData-> (x,y) = (4063997.91, 597131.39) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 4.48 17.96 3.72 3.84 0 9188.88 06:12:20 m : AshtechGps::processRecord() - $GPGGA,210842.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210841.51,3643.0021,N,-12154.7422,W,1,03,00.5,069.9,M,-99.9,M,,*4c : Estimated North Bias at time = 1430.00 : 5.77 : Estimated East Bias at time = 1430.00 : 4.80 : Estimated Depth Bias at time = 1430.00 : -0.05 : Estimated northing and easting = 4064003.68 : 597136.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210843.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210842.51,3643.0017,N,-12154.7413,W,1,03,00.5,070.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,210844.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210843.51,3643.0012,N,-12154.7403,W,1,03,00.5,069.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210845.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210844.51,3643.0007,N,-12154.7393,W,1,03,00.5,068.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210846.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210845.51,3643.0003,N,-12154.7384,W,1,03,00.5,068.9,M,-99.9,M,,*42 : TerrainNav update at nav time = 1435.001696 : TerrainNav update at dvl time = 1435.001696 : _navData-> (x,y) = (4063993.63, 597138.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210847.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210846.51,3642.9998,N,-12154.7376,W,1,03,00.5,069.0,M,-99.9,M,,*47 : Estimated North Bias at time = 1435.00 : 5.56 : Estimated East Bias at time = 1435.00 : 4.68 : Estimated Depth Bias at time = 1435.00 : -0.05 : Estimated northing and easting = 4063999.19 : 597143.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210848.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210847.51,3642.9993,N,-12154.7368,W,1,03,00.5,068.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210849.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210848.51,3642.9988,N,-12154.7359,W,1,03,00.5,069.3,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.45 5.45 16.40 3.79 3.83 0 -9366.39 06:12:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210850.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210849.51,3642.9983,N,-12154.7350,W,1,03,00.5,069.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,210851.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210850.51,3642.9977,N,-12154.7341,W,1,03,00.5,069.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1440.001353 : TerrainNav update at dvl time = 1440.001353 : _navData-> (x,y) = (4063989.01, 597145.04) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.71 17.87 3.72 3.84 0 9188.59 06:12:30 m : AshtechGps::processRecord() - $GPGGA,210852.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210851.51,3642.9972,N,-12154.7331,W,1,03,00.5,068.7,M,-99.9,M,,*40 : Estimated North Bias at time = 1440.00 : 5.76 : Estimated East Bias at time = 1440.00 : 4.75 : Estimated Depth Bias at time = 1440.00 : -0.05 : Estimated northing and easting = 4063994.77 : 597149.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210853.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210852.51,3642.9967,N,-12154.7321,W,1,03,00.5,069.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210854.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210853.51,3642.9962,N,-12154.7311,W,1,03,00.5,068.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210855.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210854.51,3642.9957,N,-12154.7303,W,1,03,00.5,068.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210856.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210855.51,3642.9952,N,-12154.7295,W,1,03,00.5,068.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 1445.001011 : TerrainNav update at dvl time = 1445.001011 : _navData-> (x,y) = (4063984.49, 597151.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210857.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210856.51,3642.9947,N,-12154.7287,W,1,03,00.5,069.1,M,-99.9,M,,*4a : Estimated North Bias at time = 1445.00 : 5.55 : Estimated East Bias at time = 1445.00 : 5.52 : Estimated Depth Bias at time = 1445.00 : -0.05 : Estimated northing and easting = 4063990.04 : 597157.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210858.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210857.51,3642.9942,N,-12154.7279,W,1,03,00.5,069.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210859.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210858.51,3642.9937,N,-12154.7269,W,1,03,00.5,069.1,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.45 5.49 16.40 3.79 3.83 0 -9366.94 06:12:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210900.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210859.51,3642.9932,N,-12154.7259,W,1,03,00.5,069.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,210901.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210900.51,3642.9926,N,-12154.7249,W,1,03,00.5,069.8,M,-99.9,M,,*44 : TerrainNav update at nav time = 1450.000668 : TerrainNav update at dvl time = 1450.000668 : _navData-> (x,y) = (4063979.72, 597158.86) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.03 17.87 3.72 3.84 0 9188.14 06:12:40 m : AshtechGps::processRecord() - $GPGGA,210902.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210901.51,3642.9921,N,-12154.7239,W,1,03,00.5,069.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1450.00 : 5.93 : Estimated East Bias at time = 1450.00 : 4.34 : Estimated Depth Bias at time = 1450.00 : -0.05 : Estimated northing and easting = 4063985.65 : 597163.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210903.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210902.51,3642.9916,N,-12154.7229,W,1,03,00.5,069.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210904.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210903.51,3642.9911,N,-12154.7220,W,1,03,00.5,069.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,210905.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210904.51,3642.9906,N,-12154.7211,W,1,03,00.5,069.0,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210906.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210905.51,3642.9902,N,-12154.7202,W,1,03,00.5,068.5,M,-99.9,M,,*44 : TerrainNav update at nav time = 1455.000326 : TerrainNav update at dvl time = 1455.000326 : _navData-> (x,y) = (4063975.26, 597165.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210907.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210906.51,3642.9897,N,-12154.7194,W,1,03,00.5,068.9,M,-99.9,M,,*4a : Estimated North Bias at time = 1455.00 : 5.75 : Estimated East Bias at time = 1455.00 : 5.08 : Estimated Depth Bias at time = 1455.00 : -0.05 : Estimated northing and easting = 4063981.01 : 597170.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210908.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210907.51,3642.9892,N,-12154.7186,W,1,03,00.5,068.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210909.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210908.51,3642.9888,N,-12154.7177,W,1,03,00.5,069.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.49 4.89 16.40 3.79 3.83 0 -9367.29 06:12:47 m : AshtechGps::processRecord() - $GPGGA,210910.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210909.51,3642.9883,N,-12154.7169,W,1,03,00.5,069.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210911.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210910.51,3642.9877,N,-12154.7160,W,1,03,00.5,068.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 1459.999983 : TerrainNav update at dvl time = 1459.999983 : _navData-> (x,y) = (4063970.80, 597172.11) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.10 17.96 3.72 3.84 0 9187.81 06:12:50 m : AshtechGps::processRecord() - $GPGGA,210912.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210911.51,3642.9872,N,-12154.7151,W,1,03,00.5,069.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1460.00 : 5.97 : Estimated East Bias at time = 1460.00 : 5.10 : Estimated Depth Bias at time = 1460.00 : -0.05 : Estimated northing and easting = 4063976.78 : 597177.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210913.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210912.51,3642.9866,N,-12154.7141,W,1,03,00.5,069.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210914.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210913.51,3642.9861,N,-12154.7130,W,1,03,00.5,069.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210915.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210914.51,3642.9856,N,-12154.7120,W,1,03,00.5,068.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,210916.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210915.51,3642.9851,N,-12154.7110,W,1,03,00.5,068.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 1464.999641 : TerrainNav update at dvl time = 1464.999641 : _navData-> (x,y) = (4063965.99, 597179.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210917.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210916.51,3642.9846,N,-12154.7101,W,1,03,00.5,068.2,M,-99.9,M,,*40 : Estimated North Bias at time = 1465.00 : 5.78 : Estimated East Bias at time = 1465.00 : 4.64 : Estimated Depth Bias at time = 1465.00 : -0.05 : Estimated northing and easting = 4063971.78 : 597184.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210918.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210917.50,3642.9841,N,-12154.7093,W,1,03,00.5,068.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,210919.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210918.50,3642.9837,N,-12154.7085,W,1,03,00.5,068.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.49 4.75 16.40 3.79 3.83 0 -9367.83 06:12:57 m : AshtechGps::processRecord() - $GPGGA,210920.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210919.50,3642.9832,N,-12154.7076,W,1,03,00.5,068.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210921.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210920.50,3642.9827,N,-12154.7068,W,1,03,00.5,069.2,M,-99.9,M,,*4c : TerrainNav update at nav time = 1469.999298 : TerrainNav update at dvl time = 1469.999298 : _navData-> (x,y) = (4063961.68, 597185.97) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 4.29 17.87 3.72 3.83 0 9187.38 06:13:00 m : AshtechGps::processRecord() - $GPGGA,210922.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210921.50,3642.9822,N,-12154.7058,W,1,03,00.5,068.4,M,-99.9,M,,*4c : Estimated North Bias at time = 1470.00 : 5.62 : Estimated East Bias at time = 1470.00 : 5.31 : Estimated Depth Bias at time = 1470.00 : -0.05 : Estimated northing and easting = 4063967.30 : 597191.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210923.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210922.50,3642.9817,N,-12154.7049,W,1,03,00.5,068.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210924.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210923.50,3642.9812,N,-12154.7039,W,1,03,00.5,069.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210925.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210924.50,3642.9806,N,-12154.7029,W,1,03,00.5,068.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,210926.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210925.50,3642.9801,N,-12154.7020,W,1,03,00.5,068.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1474.998956 : TerrainNav update at dvl time = 1474.998956 : _navData-> (x,y) = (4063956.96, 597193.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210927.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210926.50,3642.9796,N,-12154.7011,W,1,03,00.5,068.3,M,-99.9,M,,*41 : Estimated North Bias at time = 1475.00 : 5.79 : Estimated East Bias at time = 1475.00 : 5.08 : Estimated Depth Bias at time = 1475.00 : -0.05 : Estimated northing and easting = 4063962.75 : 597198.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210928.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210927.50,3642.9791,N,-12154.7003,W,1,03,00.5,068.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210929.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210928.50,3642.9787,N,-12154.6994,W,1,03,00.5,068.2,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.49 5.04 16.40 3.79 3.83 0 -9368.17 06:13:07 m : AshtechGps::processRecord() - $GPGGA,210930.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210929.50,3642.9782,N,-12154.6986,W,1,03,00.5,068.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210931.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210930.50,3642.9778,N,-12154.6977,W,1,03,00.5,068.3,M,-99.9,M,,*4e : TerrainNav update at nav time = 1479.998613 : TerrainNav update at dvl time = 1479.998613 : _navData-> (x,y) = (4063952.80, 597199.64) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.71 17.87 3.72 3.83 0 9187.08 06:13:10 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210932.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210931.50,3642.9773,N,-12154.6967,W,1,03,00.5,069.1,M,-99.9,M,,*46 : Estimated North Bias at time = 1480.00 : 5.34 : Estimated East Bias at time = 1480.00 : 5.29 : Estimated Depth Bias at time = 1480.00 : -0.05 : Estimated northing and easting = 4063958.14 : 597204.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210933.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210932.50,3642.9768,N,-12154.6957,W,1,03,00.5,069.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210934.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210933.50,3642.9763,N,-12154.6947,W,1,03,00.5,068.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210935.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210934.50,3642.9757,N,-12154.6936,W,1,03,00.5,069.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,210936.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210935.50,3642.9751,N,-12154.6926,W,1,03,00.5,068.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 1484.998271 : TerrainNav update at dvl time = 1484.998271 : _navData-> (x,y) = (4063947.84, 597207.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210937.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210936.50,3642.9745,N,-12154.6916,W,1,03,00.5,068.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1485.00 : 6.14 : Estimated East Bias at time = 1485.00 : 4.59 : Estimated Depth Bias at time = 1485.00 : -0.05 : Estimated northing and easting = 4063953.97 : 597211.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210938.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210937.50,3642.9740,N,-12154.6908,W,1,03,00.5,068.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210939.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210938.50,3642.9736,N,-12154.6899,W,1,03,00.5,068.0,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.49 4.64 16.40 3.79 3.83 0 -9368.69 06:13:17 m : AshtechGps::processRecord() - $GPGGA,210940.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210939.50,3642.9731,N,-12154.6891,W,1,03,00.5,067.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210941.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210940.50,3642.9727,N,-12154.6884,W,1,03,00.5,067.8,M,-99.9,M,,*4a : TerrainNav update at nav time = 1489.997928 : TerrainNav update at dvl time = 1489.997928 : _navData-> (x,y) = (4063943.60, 597213.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.63 3.99 17.87 3.72 3.83 0 9186.62 06:13:20 m : AshtechGps::processRecord() - $GPGGA,210942.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210941.50,3642.9723,N,-12154.6876,W,1,03,00.5,068.1,M,-99.9,M,,*44 : Estimated North Bias at time = 1490.00 : 5.18 : Estimated East Bias at time = 1490.00 : 5.73 : Estimated Depth Bias at time = 1490.00 : -0.05 : Estimated northing and easting = 4063948.78 : 597219.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,210943.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210942.50,3642.9719,N,-12154.6867,W,1,03,00.5,068.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210944.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210943.50,3642.9714,N,-12154.6858,W,1,03,00.5,068.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210945.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210944.50,3642.9708,N,-12154.6847,W,1,03,00.5,068.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210946.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210945.50,3642.9702,N,-12154.6836,W,1,03,00.5,069.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 1494.997586 : TerrainNav update at dvl time = 1494.997586 : _navData-> (x,y) = (4063938.97, 597220.81) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210947.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210946.50,3642.9696,N,-12154.6824,W,1,03,00.5,069.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1495.00 : 6.11 : Estimated East Bias at time = 1495.00 : 4.41 : Estimated Depth Bias at time = 1495.00 : -0.05 : Estimated northing and easting = 4063945.08 : 597225.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210948.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210947.50,3642.9690,N,-12154.6813,W,1,03,00.5,068.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210949.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210948.50,3642.9685,N,-12154.6803,W,1,03,00.5,068.8,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.45 4.78 16.40 3.78 3.83 0 -9369.04 06:13:27 m : AshtechGps::processRecord() - $GPGGA,210950.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210949.50,3642.9680,N,-12154.6794,W,1,03,00.5,067.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,210951.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210950.50,3642.9676,N,-12154.6786,W,1,03,00.5,067.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 1499.997243 : TerrainNav update at dvl time = 1499.997243 : _navData-> (x,y) = (4063934.19, 597228.09) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1500.00 : 6.13 : Estimated East Bias at time = 1500.00 : 4.40 : Estimated Depth Bias at time = 1500.00 : -0.05 : Estimated northing and easting = 4063940.32 : 597232.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.25 17.87 3.72 3.83 0 9186.30 06:13:30 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210952.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210951.50,3642.9672,N,-12154.6780,W,1,03,00.5,068.1,M,-99.9,M,,*46 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210953.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210952.50,3642.9667,N,-12154.6773,W,1,03,00.5,068.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,210954.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210953.50,3642.9663,N,-12154.6765,W,1,03,00.5,068.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210955.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210954.50,3642.9658,N,-12154.6755,W,1,03,00.5,068.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210956.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210955.50,3642.9653,N,-12154.6744,W,1,03,00.5,068.9,M,-99.9,M,,*41 : TerrainNav update at nav time = 1504.996901 : TerrainNav update at dvl time = 1504.996901 : _navData-> (x,y) = (4063929.98, 597234.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,210957.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,210956.50,3642.9647,N,-12154.6733,W,1,03,00.5,069.2,M,-99.9,M,,*4d : Estimated North Bias at time = 1505.00 : 6.69 : Estimated East Bias at time = 1505.00 : 3.03 : Estimated Depth Bias at time = 1505.00 : -0.05 : Estimated northing and easting = 4063936.68 : 597237.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,210958.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210957.50,3642.9641,N,-12154.6722,W,1,03,00.5,068.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,210959.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210958.50,3642.9635,N,-12154.6712,W,1,03,00.5,068.8,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.49 5.16 16.40 3.78 3.83 0 -9369.57 06:13:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211000.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,210959.50,3642.9629,N,-12154.6702,W,1,03,00.5,068.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211001.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211000.50,3642.9624,N,-12154.6693,W,1,03,00.5,068.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1509.996558 : TerrainNav update at dvl time = 1509.996558 : _navData-> (x,y) = (4063924.80, 597242.15) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.37 17.87 3.72 3.83 0 9185.87 06:13:40 m : AshtechGps::processRecord() - $GPGGA,211002.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211001.50,3642.9620,N,-12154.6684,W,1,03,00.5,067.9,M,-99.9,M,,*4e : Estimated North Bias at time = 1510.00 : 6.63 : Estimated East Bias at time = 1510.00 : 3.84 : Estimated Depth Bias at time = 1510.00 : -0.05 : Estimated northing and easting = 4063931.43 : 597245.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211003.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211002.50,3642.9616,N,-12154.6676,W,1,03,00.5,067.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211004.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211003.50,3642.9612,N,-12154.6668,W,1,03,00.5,068.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211005.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211004.50,3642.9607,N,-12154.6660,W,1,03,00.5,068.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211006.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211005.50,3642.9603,N,-12154.6651,W,1,03,00.5,069.0,M,-99.9,M,,*44 : TerrainNav update at nav time = 1514.996216 : TerrainNav update at dvl time = 1514.996216 : _navData-> (x,y) = (4063920.87, 597248.43) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211007.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211006.50,3642.9597,N,-12154.6642,W,1,03,00.5,068.5,M,-99.9,M,,*4f : Estimated North Bias at time = 1515.00 : 6.57 : Estimated East Bias at time = 1515.00 : 4.23 : Estimated Depth Bias at time = 1515.00 : -0.05 : Estimated northing and easting = 4063927.45 : 597252.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211008.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211007.50,3642.9591,N,-12154.6632,W,1,03,00.5,068.9,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211009.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211008.50,3642.9585,N,-12154.6621,W,1,03,00.5,069.1,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.45 5.04 16.50 3.78 3.83 0 -9369.91 06:13:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211010.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211009.50,3642.9579,N,-12154.6609,W,1,03,00.5,069.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,211011.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211010.50,3642.9573,N,-12154.6598,W,1,03,00.5,067.9,M,-99.9,M,,*45 : TerrainNav update at nav time = 1519.995873 : TerrainNav update at dvl time = 1519.995873 : _navData-> (x,y) = (4063915.51, 597256.38) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.91 17.96 3.72 3.83 0 9185.57 06:13:50 m : AshtechGps::processRecord() - $GPGGA,211012.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211011.50,3642.9568,N,-12154.6589,W,1,03,00.5,068.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1520.00 : 7.18 : Estimated East Bias at time = 1520.00 : 2.82 : Estimated Depth Bias at time = 1520.00 : -0.05 : Estimated northing and easting = 4063922.69 : 597259.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211013.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211012.50,3642.9563,N,-12154.6581,W,1,03,00.5,067.9,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211014.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211013.50,3642.9559,N,-12154.6574,W,1,03,00.5,067.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,211015.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211014.50,3642.9556,N,-12154.6566,W,1,03,00.5,068.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211016.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211015.50,3642.9552,N,-12154.6558,W,1,03,00.5,068.7,M,-99.9,M,,*4e : TerrainNav update at nav time = 1524.995531 : TerrainNav update at dvl time = 1524.995531 : _navData-> (x,y) = (4063911.64, 597262.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211017.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211016.50,3642.9547,N,-12154.6548,W,1,03,00.5,068.3,M,-99.9,M,,*4c : Estimated North Bias at time = 1525.00 : 6.24 : Estimated East Bias at time = 1525.00 : 3.92 : Estimated Depth Bias at time = 1525.00 : -0.05 : Estimated northing and easting = 4063917.88 : 597266.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211018.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211017.50,3642.9541,N,-12154.6538,W,1,03,00.5,068.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,211019.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211018.50,3642.9535,N,-12154.6527,W,1,03,00.5,068.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 5.23 16.40 3.78 3.83 0 -9370.44 06:13:57 m : AshtechGps::processRecord() - $GPGGA,211020.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211019.50,3642.9529,N,-12154.6516,W,1,03,00.5,068.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211021.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211020.50,3642.9522,N,-12154.6505,W,1,03,00.5,068.8,M,-99.9,M,,*48 : TerrainNav update at nav time = 1529.995188 : TerrainNav update at dvl time = 1529.995188 : _navData-> (x,y) = (4063906.28, 597270.34) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.03 17.87 3.72 3.83 0 9185.11 06:14:00 m : AshtechGps::processRecord() - $GPGGA,211022.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211021.50,3642.9517,N,-12154.6496,W,1,03,00.5,068.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1530.00 : 7.72 : Estimated East Bias at time = 1530.00 : 2.74 : Estimated Depth Bias at time = 1530.00 : -0.05 : Estimated northing and easting = 4063914.00 : 597273.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211023.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211022.50,3642.9511,N,-12154.6487,W,1,03,00.5,067.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211024.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211023.50,3642.9507,N,-12154.6479,W,1,03,00.5,068.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211025.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211024.50,3642.9502,N,-12154.6471,W,1,03,00.5,067.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211026.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211025.50,3642.9498,N,-12154.6463,W,1,03,00.5,068.4,M,-99.9,M,,*40 : TerrainNav update at nav time = 1534.994846 : TerrainNav update at dvl time = 1534.994846 : _navData-> (x,y) = (4063901.80, 597276.73) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211027.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211026.50,3642.9493,N,-12154.6453,W,1,03,00.5,068.1,M,-99.9,M,,*4e : Estimated North Bias at time = 1534.99 : 6.84 : Estimated East Bias at time = 1534.99 : 3.49 : Estimated Depth Bias at time = 1534.99 : -0.05 : Estimated northing and easting = 4063908.64 : 597280.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211028.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211027.50,3642.9488,N,-12154.6444,W,1,03,00.5,068.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,211029.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211028.50,3642.9483,N,-12154.6434,W,1,03,00.5,068.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.49 4.89 16.40 3.79 3.83 0 -9370.79 06:14:07 m : AshtechGps::processRecord() - $GPGGA,211030.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211029.51,3642.9478,N,-12154.6424,W,1,03,00.5,068.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211031.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211030.51,3642.9473,N,-12154.6414,W,1,03,00.5,068.0,M,-99.9,M,,*44 : TerrainNav update at nav time = 1539.994503 : TerrainNav update at dvl time = 1539.994503 : _navData-> (x,y) = (4063897.27, 597284.00) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.18 17.87 3.72 3.83 0 9184.84 06:14:10 m : AshtechGps::processRecord() - $GPGGA,211032.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211031.51,3642.9467,N,-12154.6405,W,1,03,00.5,068.9,M,-99.9,M,,*49 : Estimated North Bias at time = 1539.99 : 7.22 : Estimated East Bias at time = 1539.99 : 2.84 : Estimated Depth Bias at time = 1539.99 : -0.05 : Estimated northing and easting = 4063904.49 : 597286.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,211033.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211032.51,3642.9462,N,-12154.6396,W,1,03,00.5,068.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211034.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211033.51,3642.9456,N,-12154.6387,W,1,03,00.5,068.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211035.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211034.51,3642.9451,N,-12154.6377,W,1,03,00.5,068.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,211036.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211035.51,3642.9446,N,-12154.6368,W,1,03,00.5,068.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1544.994161 : TerrainNav update at dvl time = 1544.994161 : _navData-> (x,y) = (4063892.40, 597290.96) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211037.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211036.51,3642.9441,N,-12154.6359,W,1,03,00.5,068.0,M,-99.9,M,,*4d : Estimated North Bias at time = 1544.99 : 7.15 : Estimated East Bias at time = 1544.99 : 2.90 : Estimated Depth Bias at time = 1544.99 : -0.05 : Estimated northing and easting = 4063899.56 : 597293.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211038.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211037.51,3642.9436,N,-12154.6350,W,1,03,00.5,067.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211039.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211038.51,3642.9432,N,-12154.6342,W,1,03,00.5,067.7,M,-99.9,M,,*45 : BluefinBatt Reply: $aaq0 d- 30.45 5.19 16.50 3.79 3.83 0 -9371.30 06:14:17 m : AshtechGps::processRecord() - $GPGGA,211040.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211039.51,3642.9428,N,-12154.6334,W,1,03,00.5,068.3,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211041.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211040.51,3642.9423,N,-12154.6325,W,1,03,00.5,068.1,M,-99.9,M,,*42 : TerrainNav update at nav time = 1549.993818 : TerrainNav update at dvl time = 1549.993818 : _navData-> (x,y) = (4063888.26, 597297.33) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.64 17.87 3.73 3.84 0 9184.40 06:14:20 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211042.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211041.51,3642.9418,N,-12154.6316,W,1,03,00.5,068.2,M,-99.9,M,,*48 : Estimated North Bias at time = 1549.99 : 6.63 : Estimated East Bias at time = 1549.99 : 3.52 : Estimated Depth Bias at time = 1549.99 : -0.05 : Estimated northing and easting = 4063894.90 : 597300.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,211043.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211042.51,3642.9413,N,-12154.6307,W,1,03,00.5,068.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211044.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211043.51,3642.9407,N,-12154.6298,W,1,03,00.5,068.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211045.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211044.51,3642.9401,N,-12154.6288,W,1,03,00.5,068.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,211046.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211045.51,3642.9395,N,-12154.6278,W,1,03,00.5,068.9,M,-99.9,M,,*4c : TerrainNav update at nav time = 1554.993476 : TerrainNav update at dvl time = 1554.993476 : _navData-> (x,y) = (4063883.08, 597304.48) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211047.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211046.51,3642.9389,N,-12154.6268,W,1,03,00.5,068.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1554.99 : 7.36 : Estimated East Bias at time = 1554.99 : 2.98 : Estimated Depth Bias at time = 1554.99 : -0.05 : Estimated northing and easting = 4063890.44 : 597307.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211048.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211047.51,3642.9384,N,-12154.6257,W,1,03,00.5,068.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211049.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211048.51,3642.9379,N,-12154.6247,W,1,03,00.5,067.9,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.45 5.38 16.40 3.78 3.83 0 -9371.63 06:14:27 m : AshtechGps::processRecord() - $GPGGA,211050.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211049.51,3642.9375,N,-12154.6238,W,1,03,00.5,067.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211051.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211050.51,3642.9371,N,-12154.6230,W,1,03,00.5,067.0,M,-99.9,M,,*48 : TerrainNav update at nav time = 1559.993133 : TerrainNav update at dvl time = 1559.993133 : _navData-> (x,y) = (4063878.89, 597311.64) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.56 4.60 17.87 3.73 3.84 0 9184.10 06:14:30 m : AshtechGps::processRecord() - $GPGGA,211052.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211051.51,3642.9367,N,-12154.6223,W,1,03,00.5,067.0,M,-99.9,M,,*4c : Estimated North Bias at time = 1559.99 : 6.23 : Estimated East Bias at time = 1559.99 : 3.37 : Estimated Depth Bias at time = 1559.99 : -0.05 : Estimated northing and easting = 4063885.11 : 597315.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,211053.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211052.51,3642.9363,N,-12154.6216,W,1,03,00.5,067.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211054.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211053.51,3642.9358,N,-12154.6208,W,1,03,00.5,067.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211055.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211054.51,3642.9353,N,-12154.6200,W,1,03,00.5,068.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211056.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211055.51,3642.9347,N,-12154.6190,W,1,03,00.5,068.2,M,-99.9,M,,*4c : TerrainNav update at nav time = 1565.002790 : TerrainNav update at dvl time = 1565.002790 : _navData-> (x,y) = (4063874.38, 597317.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211057.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211056.51,3642.9341,N,-12154.6180,W,1,03,00.5,068.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1565.00 : 7.30 : Estimated East Bias at time = 1565.00 : 2.71 : Estimated Depth Bias at time = 1565.00 : -0.05 : Estimated northing and easting = 4063881.68 : 597320.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211058.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211057.51,3642.9335,N,-12154.6168,W,1,03,00.5,068.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211059.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211058.51,3642.9329,N,-12154.6157,W,1,03,00.5,068.7,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.45 5.23 16.40 3.78 3.83 0 -9372.17 06:14:37 m : AshtechGps::processRecord() - $GPGGA,211100.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211059.51,3642.9323,N,-12154.6145,W,1,03,00.5,067.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,211101.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211100.51,3642.9318,N,-12154.6134,W,1,03,00.5,067.7,M,-99.9,M,,*43 : TerrainNav update at nav time = 1570.002448 : TerrainNav update at dvl time = 1570.002448 : _navData-> (x,y) = (4063869.15, 597326.05) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.56 4.90 17.96 3.73 3.84 0 9183.66 06:14:40 m : AshtechGps::processRecord() - $GPGGA,211102.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211101.51,3642.9313,N,-12154.6125,W,1,03,00.5,067.7,M,-99.9,M,,*49 : Estimated North Bias at time = 1570.00 : 6.98 : Estimated East Bias at time = 1570.00 : 1.67 : Estimated Depth Bias at time = 1570.00 : -0.05 : Estimated northing and easting = 4063876.13 : 597327.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.755000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211103.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211102.51,3642.9309,N,-12154.6116,W,1,03,00.5,066.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211104.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211103.51,3642.9305,N,-12154.6109,W,1,03,00.5,068.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211105.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211104.51,3642.9301,N,-12154.6102,W,1,03,00.5,067.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211106.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211105.51,3642.9296,N,-12154.6095,W,1,03,00.5,067.5,M,-99.9,M,,*49 : TerrainNav update at nav time = 1575.002105 : TerrainNav update at dvl time = 1575.002105 : _navData-> (x,y) = (4063865.21, 597331.82) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211107.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211106.51,3642.9291,N,-12154.6087,W,1,03,00.5,068.2,M,-99.9,M,,*46 : Estimated North Bias at time = 1575.00 : 6.62 : Estimated East Bias at time = 1575.00 : 3.35 : Estimated Depth Bias at time = 1575.00 : -0.05 : Estimated northing and easting = 4063871.84 : 597335.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211108.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211107.51,3642.9285,N,-12154.6079,W,1,03,00.5,068.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211109.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211108.51,3642.9280,N,-12154.6069,W,1,03,00.5,068.9,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.49 4.86 16.40 3.78 3.83 0 -9372.53 06:14:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211110.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211109.51,3642.9274,N,-12154.6058,W,1,03,00.5,068.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,211111.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211110.51,3642.9269,N,-12154.6046,W,1,03,00.5,068.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1580.001763 : TerrainNav update at dvl time = 1580.001763 : _navData-> (x,y) = (4063860.21, 597339.25) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.87 17.87 3.73 3.84 0 9183.36 06:14:50 m : AshtechGps::processRecord() - $GPGGA,211112.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211111.51,3642.9264,N,-12154.6035,W,1,03,00.5,068.9,M,-99.9,M,,*48 : Estimated North Bias at time = 1580.00 : 6.74 : Estimated East Bias at time = 1580.00 : 1.73 : Estimated Depth Bias at time = 1580.00 : -0.05 : Estimated northing and easting = 4063866.95 : 597340.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,211113.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211112.51,3642.9259,N,-12154.6024,W,1,03,00.5,067.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211114.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211113.51,3642.9254,N,-12154.6015,W,1,03,00.5,068.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211115.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211114.51,3642.9249,N,-12154.6007,W,1,03,00.5,067.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211116.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211115.51,3642.9244,N,-12154.5998,W,1,03,00.5,067.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 1585.001420 : TerrainNav update at dvl time = 1585.001420 : _navData-> (x,y) = (4063855.73, 597346.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211117.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211116.51,3642.9239,N,-12154.5990,W,1,03,00.5,067.7,M,-99.9,M,,*43 : Estimated North Bias at time = 1585.00 : 6.51 : Estimated East Bias at time = 1585.00 : 3.30 : Estimated Depth Bias at time = 1585.00 : -0.05 : Estimated northing and easting = 4063862.25 : 597349.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211118.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211117.51,3642.9234,N,-12154.5981,W,1,03,00.5,067.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211119.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211118.51,3642.9229,N,-12154.5972,W,1,03,00.5,067.2,M,-99.9,M,,*45 : BluefinBatt Reply: $aaq0 d- 30.45 4.78 16.40 3.78 3.83 0 -9373.02 06:14:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211120.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211119.51,3642.9224,N,-12154.5964,W,1,03,00.5,067.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211121.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211120.51,3642.9220,N,-12154.5955,W,1,03,00.5,067.7,M,-99.9,M,,*47 : TerrainNav update at nav time = 1590.001078 : TerrainNav update at dvl time = 1590.001078 : _navData-> (x,y) = (4063851.25, 597352.85) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.14 17.96 3.72 3.83 0 9182.89 06:15:00 m : AshtechGps::processRecord() - $GPGGA,211122.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211121.51,3642.9215,N,-12154.5946,W,1,03,00.5,068.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1590.00 : 6.62 : Estimated East Bias at time = 1590.00 : 3.21 : Estimated Depth Bias at time = 1590.00 : -0.05 : Estimated northing and easting = 4063857.87 : 597356.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211123.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211122.51,3642.9210,N,-12154.5937,W,1,03,00.5,068.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211124.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211123.51,3642.9205,N,-12154.5927,W,1,03,00.5,067.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,211125.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211124.51,3642.9200,N,-12154.5917,W,1,03,00.5,067.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211126.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211125.51,3642.9194,N,-12154.5907,W,1,03,00.5,068.4,M,-99.9,M,,*45 : TerrainNav update at nav time = 1595.000735 : TerrainNav update at dvl time = 1595.000735 : _navData-> (x,y) = (4063846.62, 597360.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211127.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211126.51,3642.9189,N,-12154.5897,W,1,03,00.5,068.0,M,-99.9,M,,*46 : Estimated North Bias at time = 1595.00 : 6.87 : Estimated East Bias at time = 1595.00 : 2.30 : Estimated Depth Bias at time = 1595.00 : -0.05 : Estimated northing and easting = 4063853.50 : 597362.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211128.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211127.51,3642.9183,N,-12154.5888,W,1,03,00.5,067.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,211129.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211128.51,3642.9178,N,-12154.5879,W,1,03,00.5,067.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 5.12 16.40 3.78 3.83 0 -9373.38 06:15:07 m : AshtechGps::processRecord() - $GPGGA,211130.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211129.51,3642.9173,N,-12154.5871,W,1,03,00.5,068.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211131.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211130.51,3642.9168,N,-12154.5862,W,1,03,00.5,067.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 1600.000393 : TerrainNav update at dvl time = 1600.000393 : _navData-> (x,y) = (4063841.92, 597366.79) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.33 17.87 3.72 3.83 0 9182.56 06:15:10 m : AshtechGps::processRecord() - $GPGGA,211132.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211131.51,3642.9163,N,-12154.5853,W,1,03,00.5,068.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1600.00 : 6.50 : Estimated East Bias at time = 1600.00 : 3.14 : Estimated Depth Bias at time = 1600.00 : -0.05 : Estimated northing and easting = 4063848.43 : 597369.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211133.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211132.51,3642.9158,N,-12154.5844,W,1,03,00.5,067.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211134.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211133.51,3642.9153,N,-12154.5834,W,1,03,00.5,067.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211135.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211134.51,3642.9148,N,-12154.5824,W,1,03,00.5,067.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211136.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211135.51,3642.9143,N,-12154.5814,W,1,03,00.5,067.8,M,-99.9,M,,*4e : TerrainNav update at nav time = 1605.000050 : TerrainNav update at dvl time = 1605.000050 : _navData-> (x,y) = (4063837.38, 597374.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211137.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211136.51,3642.9139,N,-12154.5805,W,1,03,00.5,067.7,M,-99.9,M,,*4f : Estimated North Bias at time = 1605.00 : 6.56 : Estimated East Bias at time = 1605.00 : 2.45 : Estimated Depth Bias at time = 1605.00 : -0.05 : Estimated northing and easting = 4063843.95 : 597376.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211138.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211137.51,3642.9134,N,-12154.5796,W,1,03,00.5,067.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,211139.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211138.51,3642.9129,N,-12154.5787,W,1,03,00.5,067.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 5.19 16.40 3.78 3.83 0 -9373.91 06:15:17 m : AshtechGps::processRecord() - $GPGGA,211140.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211139.51,3642.9125,N,-12154.5779,W,1,03,00.5,068.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211141.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211140.51,3642.9119,N,-12154.5770,W,1,03,00.5,067.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 1609.999707 : TerrainNav update at dvl time = 1609.999707 : _navData-> (x,y) = (4063833.01, 597380.68) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.67 17.87 3.72 3.83 0 9182.12 06:15:20 m : AshtechGps::processRecord() - $GPGGA,211142.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211141.51,3642.9114,N,-12154.5760,W,1,03,00.5,068.5,M,-99.9,M,,*41 : Estimated North Bias at time = 1610.00 : 6.69 : Estimated East Bias at time = 1610.00 : 2.86 : Estimated Depth Bias at time = 1610.00 : -0.05 : Estimated northing and easting = 4063839.71 : 597383.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211143.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211142.51,3642.9108,N,-12154.5751,W,1,03,00.5,067.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211144.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211143.50,3642.9102,N,-12154.5741,W,1,03,00.5,067.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211145.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211144.50,3642.9097,N,-12154.5731,W,1,03,00.5,067.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,211146.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211145.50,3642.9092,N,-12154.5722,W,1,03,00.5,068.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1614.999365 : TerrainNav update at dvl time = 1614.999365 : _navData-> (x,y) = (4063828.06, 597387.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211147.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211146.50,3642.9087,N,-12154.5713,W,1,03,00.5,067.9,M,-99.9,M,,*4b : Estimated North Bias at time = 1615.00 : 6.64 : Estimated East Bias at time = 1615.00 : 2.60 : Estimated Depth Bias at time = 1615.00 : -0.05 : Estimated northing and easting = 4063834.70 : 597390.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211148.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211147.50,3642.9083,N,-12154.5704,W,1,03,00.5,067.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211149.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211148.50,3642.9079,N,-12154.5695,W,1,03,00.5,068.3,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.41 5.60 16.40 3.78 3.83 0 -9374.28 06:15:27 m : AshtechGps::processRecord() - $GPGGA,211150.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211149.50,3642.9074,N,-12154.5686,W,1,03,00.5,067.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211151.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211150.50,3642.9069,N,-12154.5676,W,1,03,00.5,068.5,M,-99.9,M,,*4d : TerrainNav update at nav time = 1619.999022 : TerrainNav update at dvl time = 1619.999022 : _navData-> (x,y) = (4063823.87, 597394.76) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.41 17.96 3.72 3.83 0 9181.83 06:15:30 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211152.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211151.50,3642.9063,N,-12154.5666,W,1,03,00.5,067.5,M,-99.9,M,,*48 : Estimated North Bias at time = 1620.00 : 6.77 : Estimated East Bias at time = 1620.00 : 2.38 : Estimated Depth Bias at time = 1620.00 : -0.05 : Estimated northing and easting = 4063830.64 : 597397.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211153.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211152.50,3642.9057,N,-12154.5656,W,1,03,00.5,067.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211154.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211153.50,3642.9052,N,-12154.5646,W,1,03,00.5,067.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211155.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211154.50,3642.9046,N,-12154.5637,W,1,03,00.5,067.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211156.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211155.50,3642.9041,N,-12154.5628,W,1,03,00.5,067.2,M,-99.9,M,,*41 : TerrainNav update at nav time = 1624.998680 : TerrainNav update at dvl time = 1624.998680 : _navData-> (x,y) = (4063818.81, 597401.85) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211157.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211156.50,3642.9036,N,-12154.5620,W,1,03,00.5,067.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1625.00 : 6.84 : Estimated East Bias at time = 1625.00 : 2.71 : Estimated Depth Bias at time = 1625.00 : -0.05 : Estimated northing and easting = 4063825.65 : 597404.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211158.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211157.50,3642.9032,N,-12154.5611,W,1,03,00.5,066.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211159.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211158.50,3642.9027,N,-12154.5603,W,1,03,00.5,067.9,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.45 4.97 16.40 3.78 3.83 0 -9374.82 06:15:37 m : AshtechGps::processRecord() - $GPGGA,211200.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211159.50,3642.9022,N,-12154.5594,W,1,03,00.5,067.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211201.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211200.50,3642.9017,N,-12154.5586,W,1,03,00.5,068.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 1629.998338 : TerrainNav update at dvl time = 1629.998338 : _navData-> (x,y) = (4063814.44, 597408.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.03 17.96 3.72 3.84 0 9181.38 06:15:40 m : AshtechGps::processRecord() - $GPGGA,211202.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211201.50,3642.9012,N,-12154.5576,W,1,03,00.5,067.4,M,-99.9,M,,*4b : Estimated North Bias at time = 1630.00 : 6.78 : Estimated East Bias at time = 1630.00 : 2.74 : Estimated Depth Bias at time = 1630.00 : -0.05 : Estimated northing and easting = 4063821.22 : 597411.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211203.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211202.50,3642.9006,N,-12154.5565,W,1,03,00.5,068.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,211204.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211203.50,3642.9001,N,-12154.5554,W,1,03,00.5,068.1,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211205.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211204.50,3642.8995,N,-12154.5543,W,1,03,00.5,067.9,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211206.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211205.50,3642.8990,N,-12154.5533,W,1,03,00.5,066.8,M,-99.9,M,,*41 : TerrainNav update at nav time = 1634.997995 : TerrainNav update at dvl time = 1634.997995 : _navData-> (x,y) = (4063809.61, 597416.19) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211207.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211206.50,3642.8986,N,-12154.5524,W,1,03,00.5,067.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1635.00 : 6.91 : Estimated East Bias at time = 1635.00 : 1.73 : Estimated Depth Bias at time = 1635.00 : -0.05 : Estimated northing and easting = 4063816.52 : 597417.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211208.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211207.50,3642.8981,N,-12154.5515,W,1,03,00.5,067.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211209.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211208.50,3642.8976,N,-12154.5508,W,1,03,00.5,067.1,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.45 5.01 16.50 3.78 3.83 0 -9375.16 06:15:47 m : AshtechGps::processRecord() - $GPGGA,211210.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211209.50,3642.8971,N,-12154.5500,W,1,03,00.5,067.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211211.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211210.50,3642.8966,N,-12154.5492,W,1,03,00.5,067.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 1639.997653 : TerrainNav update at dvl time = 1639.997653 : _navData-> (x,y) = (4063805.15, 597422.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.79 17.96 3.72 3.84 0 9181.08 06:15:50 m : AshtechGps::processRecord() - $GPGGA,211212.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211211.50,3642.8961,N,-12154.5483,W,1,03,00.5,067.5,M,-99.9,M,,*4c : Estimated North Bias at time = 1640.00 : 7.01 : Estimated East Bias at time = 1640.00 : 2.63 : Estimated Depth Bias at time = 1640.00 : -0.05 : Estimated northing and easting = 4063812.15 : 597424.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211213.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211212.50,3642.8956,N,-12154.5474,W,1,03,00.5,068.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211214.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211213.50,3642.8950,N,-12154.5464,W,1,03,00.5,067.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211215.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211214.50,3642.8945,N,-12154.5454,W,1,03,00.5,067.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211216.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211215.50,3642.8940,N,-12154.5444,W,1,03,00.5,068.1,M,-99.9,M,,*4b : TerrainNav update at nav time = 1644.997310 : TerrainNav update at dvl time = 1644.997310 : _navData-> (x,y) = (4063800.42, 597429.58) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211217.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211216.50,3642.8935,N,-12154.5434,W,1,03,00.5,068.0,M,-99.9,M,,*4c : Estimated North Bias at time = 1645.00 : 7.11 : Estimated East Bias at time = 1645.00 : 1.82 : Estimated Depth Bias at time = 1645.00 : -0.05 : Estimated northing and easting = 4063807.53 : 597431.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211218.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211217.50,3642.8930,N,-12154.5424,W,1,03,00.5,067.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211219.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211218.50,3642.8924,N,-12154.5414,W,1,03,00.5,067.7,M,-99.9,M,,*48 : BluefinBatt Reply: $aaq0 d- 30.45 5.19 16.40 3.78 3.83 0 -9375.69 06:15:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211220.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211219.50,3642.8919,N,-12154.5404,W,1,03,00.5,067.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,211221.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211220.50,3642.8914,N,-12154.5395,W,1,03,00.5,067.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1649.996968 : TerrainNav update at dvl time = 1649.996968 : _navData-> (x,y) = (4063795.80, 597436.91) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.37 17.96 3.72 3.83 0 9180.60 06:16:00 m : AshtechGps::processRecord() - $GPGGA,211222.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211221.50,3642.8910,N,-12154.5386,W,1,03,00.5,067.1,M,-99.9,M,,*4f : Estimated North Bias at time = 1650.00 : 6.98 : Estimated East Bias at time = 1650.00 : 2.17 : Estimated Depth Bias at time = 1650.00 : -0.05 : Estimated northing and easting = 4063802.78 : 597439.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211223.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211222.50,3642.8905,N,-12154.5378,W,1,03,00.5,067.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211224.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211223.50,3642.8899,N,-12154.5370,W,1,03,00.5,067.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,211225.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211224.50,3642.8894,N,-12154.5362,W,1,03,00.5,067.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211226.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211225.50,3642.8889,N,-12154.5353,W,1,03,00.5,067.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 1654.996625 : TerrainNav update at dvl time = 1654.996625 : _navData-> (x,y) = (4063791.21, 597443.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211227.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211226.50,3642.8884,N,-12154.5344,W,1,03,00.5,068.3,M,-99.9,M,,*47 : Estimated North Bias at time = 1655.00 : 7.10 : Estimated East Bias at time = 1655.00 : 2.36 : Estimated Depth Bias at time = 1655.00 : -0.05 : Estimated northing and easting = 4063798.30 : 597445.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211228.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211227.50,3642.8879,N,-12154.5334,W,1,03,00.5,067.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211229.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211228.50,3642.8874,N,-12154.5323,W,1,03,00.5,067.7,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.45 5.12 16.40 3.78 3.83 0 -9376.04 06:16:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211230.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211229.50,3642.8868,N,-12154.5313,W,1,03,00.5,067.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211231.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211230.50,3642.8863,N,-12154.5303,W,1,03,00.5,067.8,M,-99.9,M,,*4e : TerrainNav update at nav time = 1659.996283 : TerrainNav update at dvl time = 1659.996283 : _navData-> (x,y) = (4063786.45, 597450.64) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.44 17.96 3.72 3.83 0 9180.31 06:16:10 m : AshtechGps::processRecord() - $GPGGA,211232.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211231.50,3642.8858,N,-12154.5294,W,1,03,00.5,067.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1660.00 : 7.24 : Estimated East Bias at time = 1660.00 : 1.79 : Estimated Depth Bias at time = 1660.00 : -0.05 : Estimated northing and easting = 4063793.69 : 597452.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211233.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211232.50,3642.8853,N,-12154.5285,W,1,03,00.5,067.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211234.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211233.50,3642.8848,N,-12154.5275,W,1,03,00.5,067.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211235.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211234.50,3642.8843,N,-12154.5265,W,1,03,00.5,066.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211236.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211235.50,3642.8839,N,-12154.5256,W,1,03,00.5,067.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 1664.995940 : TerrainNav update at dvl time = 1664.995940 : _navData-> (x,y) = (4063782.05, 597457.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211237.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211236.50,3642.8834,N,-12154.5248,W,1,03,00.5,067.4,M,-99.9,M,,*48 : Estimated North Bias at time = 1665.00 : 6.92 : Estimated East Bias at time = 1665.00 : 1.83 : Estimated Depth Bias at time = 1665.00 : -0.05 : Estimated northing and easting = 4063788.98 : 597459.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211238.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211237.50,3642.8829,N,-12154.5239,W,1,03,00.5,067.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,211239.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211238.50,3642.8824,N,-12154.5231,W,1,03,00.5,067.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 4.60 16.40 3.78 3.83 0 -9376.56 06:16:17 m : AshtechGps::processRecord() - $GPGGA,211240.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211239.50,3642.8819,N,-12154.5222,W,1,03,00.5,067.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211241.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211240.50,3642.8813,N,-12154.5213,W,1,03,00.5,067.2,M,-99.9,M,,*44 : TerrainNav update at nav time = 1669.995598 : TerrainNav update at dvl time = 1669.995598 : _navData-> (x,y) = (4063777.40, 597464.17) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 3.99 17.87 3.72 3.83 0 9179.88 06:16:20 m : AshtechGps::processRecord() - $GPGGA,211242.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211241.50,3642.8808,N,-12154.5203,W,1,03,00.5,067.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1670.00 : 7.36 : Estimated East Bias at time = 1670.00 : 1.99 : Estimated Depth Bias at time = 1670.00 : -0.05 : Estimated northing and easting = 4063784.77 : 597466.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211243.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211242.50,3642.8803,N,-12154.5194,W,1,03,00.5,067.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211244.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211243.50,3642.8799,N,-12154.5184,W,1,03,00.5,067.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,211245.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211244.50,3642.8794,N,-12154.5176,W,1,03,00.5,067.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211246.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211245.50,3642.8789,N,-12154.5167,W,1,03,00.5,067.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 1674.995255 : TerrainNav update at dvl time = 1674.995255 : _navData-> (x,y) = (4063772.99, 597471.10) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211247.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211246.50,3642.8784,N,-12154.5158,W,1,03,00.5,067.5,M,-99.9,M,,*48 : Estimated North Bias at time = 1675.00 : 7.01 : Estimated East Bias at time = 1675.00 : 2.36 : Estimated Depth Bias at time = 1675.00 : -0.05 : Estimated northing and easting = 4063780.00 : 597473.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211248.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211247.50,3642.8779,N,-12154.5147,W,1,03,00.5,067.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,211249.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211248.50,3642.8773,N,-12154.5136,W,1,03,00.5,067.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 5.34 16.40 3.78 3.83 0 -9376.91 06:16:27 m : AshtechGps::processRecord() - $GPGGA,211250.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211249.50,3642.8768,N,-12154.5126,W,1,03,00.5,067.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211251.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211250.50,3642.8763,N,-12154.5116,W,1,03,00.5,067.5,M,-99.9,M,,*4c : TerrainNav update at nav time = 1679.994913 : TerrainNav update at dvl time = 1679.994913 : _navData-> (x,y) = (4063768.17, 597478.78) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.41 17.87 3.72 3.83 0 9179.56 06:16:30 m : AshtechGps::processRecord() - $GPGGA,211252.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211251.50,3642.8757,N,-12154.5107,W,1,03,00.5,067.6,M,-99.9,M,,*49 : Estimated North Bias at time = 1679.99 : 7.30 : Estimated East Bias at time = 1679.99 : 1.36 : Estimated Depth Bias at time = 1679.99 : -0.05 : Estimated northing and easting = 4063775.47 : 597480.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211253.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211252.50,3642.8752,N,-12154.5099,W,1,03,00.5,066.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211254.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211253.50,3642.8747,N,-12154.5091,W,1,03,00.5,067.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211255.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211254.50,3642.8742,N,-12154.5084,W,1,03,00.5,067.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,211256.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211255.51,3642.8738,N,-12154.5076,W,1,03,00.5,066.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1684.994570 : TerrainNav update at dvl time = 1684.994570 : _navData-> (x,y) = (4063763.64, 597484.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211257.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211256.51,3642.8733,N,-12154.5067,W,1,03,00.5,067.2,M,-99.9,M,,*4e : Estimated North Bias at time = 1684.99 : 7.19 : Estimated East Bias at time = 1684.99 : 2.32 : Estimated Depth Bias at time = 1684.99 : -0.05 : Estimated northing and easting = 4063770.83 : 597487.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211258.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211257.51,3642.8728,N,-12154.5057,W,1,03,00.5,067.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211259.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211258.51,3642.8723,N,-12154.5047,W,1,03,00.5,067.7,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.45 5.01 16.40 3.78 3.83 0 -9377.45 06:16:37 m : AshtechGps::processRecord() - $GPGGA,211300.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211259.51,3642.8718,N,-12154.5036,W,1,03,00.5,068.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211301.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211300.51,3642.8713,N,-12154.5026,W,1,03,00.5,067.1,M,-99.9,M,,*48 : TerrainNav update at nav time = 1689.994228 : TerrainNav update at dvl time = 1689.994228 : _navData-> (x,y) = (4063759.12, 597492.20) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.37 17.96 3.72 3.83 0 9179.11 06:16:40 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211302.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211301.51,3642.8707,N,-12154.5016,W,1,03,00.5,067.5,M,-99.9,M,,*4b : Estimated North Bias at time = 1689.99 : 7.44 : Estimated East Bias at time = 1689.99 : 1.02 : Estimated Depth Bias at time = 1689.99 : -0.05 : Estimated northing and easting = 4063766.56 : 597493.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211303.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211302.51,3642.8702,N,-12154.5007,W,1,03,00.5,067.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211304.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211303.51,3642.8696,N,-12154.4997,W,1,03,00.5,067.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211305.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211304.51,3642.8691,N,-12154.4987,W,1,03,00.5,067.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,211306.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211305.51,3642.8685,N,-12154.4977,W,1,03,00.5,066.7,M,-99.9,M,,*48 : TerrainNav update at nav time = 1694.993885 : TerrainNav update at dvl time = 1694.993885 : _navData-> (x,y) = (4063754.12, 597499.56) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211307.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211306.51,3642.8680,N,-12154.4968,W,1,03,00.5,066.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1694.99 : 7.68 : Estimated East Bias at time = 1694.99 : 1.07 : Estimated Depth Bias at time = 1694.99 : -0.05 : Estimated northing and easting = 4063761.80 : 597500.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211308.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211307.51,3642.8676,N,-12154.4960,W,1,03,00.5,066.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211309.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211308.51,3642.8672,N,-12154.4952,W,1,03,00.5,066.9,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.45 4.89 16.40 3.78 3.83 0 -9377.82 06:16:47 m : AshtechGps::processRecord() - $GPGGA,211310.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211309.51,3642.8667,N,-12154.4944,W,1,03,00.5,067.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211311.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211310.51,3642.8663,N,-12154.4937,W,1,03,00.5,066.5,M,-99.9,M,,*42 : TerrainNav update at nav time = 1699.993543 : TerrainNav update at dvl time = 1699.993543 : _navData-> (x,y) = (4063750.09, 597505.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.48 17.96 3.72 3.83 0 9178.81 06:16:50 m : AshtechGps::processRecord() - $GPGGA,211312.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211311.51,3642.8658,N,-12154.4928,W,1,03,00.5,067.1,M,-99.9,M,,*40 : Estimated North Bias at time = 1699.99 : 7.27 : Estimated East Bias at time = 1699.99 : 1.68 : Estimated Depth Bias at time = 1699.99 : -0.05 : Estimated northing and easting = 4063757.36 : 597507.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211313.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211312.51,3642.8652,N,-12154.4919,W,1,03,00.5,067.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211314.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211313.51,3642.8646,N,-12154.4909,W,1,03,00.5,068.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211315.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211314.51,3642.8640,N,-12154.4898,W,1,03,00.5,068.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211316.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211315.51,3642.8635,N,-12154.4887,W,1,03,00.5,066.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 1704.993200 : TerrainNav update at dvl time = 1704.993200 : _navData-> (x,y) = (4063744.92, 597513.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211317.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211316.51,3642.8629,N,-12154.4876,W,1,03,00.5,067.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1704.99 : 8.13 : Estimated East Bias at time = 1704.99 : 0.12 : Estimated Depth Bias at time = 1704.99 : -0.05 : Estimated northing and easting = 4063753.05 : 597513.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211318.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211317.51,3642.8624,N,-12154.4866,W,1,03,00.5,066.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211319.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211318.51,3642.8619,N,-12154.4856,W,1,03,00.5,067.2,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.45 5.04 16.40 3.78 3.83 0 -9378.34 06:16:57 m : AshtechGps::processRecord() - $GPGGA,211320.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211319.51,3642.8614,N,-12154.4848,W,1,03,00.5,066.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,211321.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211320.51,3642.8610,N,-12154.4839,W,1,03,00.5,066.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 1710.002857 : TerrainNav update at dvl time = 1710.002857 : _navData-> (x,y) = (4063740.43, 597520.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.22 17.96 3.72 3.83 0 9178.37 06:17:00 m : AshtechGps::processRecord() - $GPGGA,211322.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211321.51,3642.8605,N,-12154.4831,W,1,03,00.5,067.0,M,-99.9,M,,*43 : Estimated North Bias at time = 1710.00 : 7.66 : Estimated East Bias at time = 1710.00 : 1.26 : Estimated Depth Bias at time = 1710.00 : -0.05 : Estimated northing and easting = 4063748.09 : 597521.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211323.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211322.51,3642.8600,N,-12154.4823,W,1,03,00.5,066.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,211324.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211323.51,3642.8595,N,-12154.4814,W,1,03,00.5,066.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211325.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 1757.599596) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1757.599596) Behavior ascend:-1 has changed to state Active : NMEA Update: $GPGGA,211324.51,3642.8590,N,-12154.4805,W,1,03,00.5,067.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211326.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211325.51,3642.8584,N,-12154.4796,W,1,03,00.5,066.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 1715.002514 : TerrainNav update at dvl time = 1715.002514 : _navData-> (x,y) = (4063735.75, 597526.75) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211327.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211326.51,3642.8579,N,-12154.4786,W,1,03,00.5,067.0,M,-99.9,M,,*4f : Estimated North Bias at time = 1715.00 : 8.23 : Estimated East Bias at time = 1715.00 : 0.79 : Estimated Depth Bias at time = 1715.00 : -0.05 : Estimated northing and easting = 4063743.98 : 597527.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211328.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211327.51,3642.8574,N,-12154.4777,W,1,03,00.5,066.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211329.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211328.51,3642.8569,N,-12154.4767,W,1,03,00.5,067.0,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.41 5.19 16.40 3.78 3.83 0 -9378.71 06:17:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211330.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211329.51,3642.8564,N,-12154.4758,W,1,03,00.5,066.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211331.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211330.51,3642.8559,N,-12154.4749,W,1,03,00.5,066.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1720.002172 : TerrainNav update at dvl time = 1720.002172 : _navData-> (x,y) = (4063731.12, 597533.85) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.29 17.96 3.72 3.83 0 9178.08 06:17:10 m : AshtechGps::processRecord() - $GPGGA,211332.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211331.51,3642.8554,N,-12154.4739,W,1,03,00.5,066.8,M,-99.9,M,,*4b : Estimated North Bias at time = 1720.00 : 7.88 : Estimated East Bias at time = 1720.00 : 0.82 : Estimated Depth Bias at time = 1720.00 : -0.05 : Estimated northing and easting = 4063739.00 : 597534.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211333.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211332.51,3642.8548,N,-12154.4730,W,1,03,00.5,067.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,211334.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211333.51,3642.8542,N,-12154.4720,W,1,03,00.5,067.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,211335.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211334.51,3642.8535,N,-12154.4710,W,1,03,00.5,067.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211336.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211335.51,3642.8529,N,-12154.4701,W,1,03,00.5,067.8,M,-99.9,M,,*4f : TerrainNav update at nav time = 1725.001829 : TerrainNav update at dvl time = 1725.001829 : _navData-> (x,y) = (4063725.78, 597540.97) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211337.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211336.51,3642.8524,N,-12154.4692,W,1,03,00.5,068.6,M,-99.9,M,,*4b : Estimated North Bias at time = 1725.00 : 8.69 : Estimated East Bias at time = 1725.00 : 0.70 : Estimated Depth Bias at time = 1725.00 : -0.05 : Estimated northing and easting = 4063734.46 : 597541.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211338.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211337.51,3642.8519,N,-12154.4683,W,1,03,00.5,067.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211339.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211338.51,3642.8515,N,-12154.4674,W,1,03,00.5,068.4,M,-99.9,M,,*4d : BluefinBatt Reply: $aaq0 d- 30.45 5.16 16.40 3.78 3.83 0 -9379.25 06:17:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211340.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211339.51,3642.8510,N,-12154.4666,W,1,03,00.5,068.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,211341.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211340.51,3642.8506,N,-12154.4658,W,1,03,00.5,068.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 1730.001487 : TerrainNav update at dvl time = 1730.001487 : _navData-> (x,y) = (4063721.51, 597547.45) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.25 17.87 3.72 3.83 0 9177.65 06:17:20 m : AshtechGps::processRecord() - $GPGGA,211342.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211341.51,3642.8501,N,-12154.4650,W,1,03,00.5,069.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : Estimated North Bias at time = 1730.00 : 8.05 : Estimated East Bias at time = 1730.00 : 0.91 : Estimated Depth Bias at time = 1730.00 : -0.05 : Estimated northing and easting = 4063729.55 : 597548.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211343.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211342.51,3642.8496,N,-12154.4642,W,1,03,00.5,068.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211344.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211343.51,3642.8490,N,-12154.4632,W,1,03,00.5,069.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,211345.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211344.51,3642.8484,N,-12154.4622,W,1,03,00.5,069.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211346.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211345.51,3642.8478,N,-12154.4611,W,1,03,00.5,069.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 1735.001144 : TerrainNav update at dvl time = 1735.001144 : _navData-> (x,y) = (4063716.30, 597554.59) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211347.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211346.51,3642.8471,N,-12154.4600,W,1,03,00.5,069.4,M,-99.9,M,,*45 : Estimated North Bias at time = 1735.00 : 9.22 : Estimated East Bias at time = 1735.00 : -0.35 : Estimated Depth Bias at time = 1735.00 : -0.05 : Estimated northing and easting = 4063725.52 : 597554.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211348.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211347.51,3642.8466,N,-12154.4589,W,1,03,00.5,070.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211349.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211348.51,3642.8461,N,-12154.4579,W,1,03,00.5,070.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 5.38 16.40 3.78 3.83 0 -9379.58 06:17:27 m : AshtechGps::processRecord() - $GPGGA,211350.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211349.51,3642.8456,N,-12154.4569,W,1,03,00.5,070.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211351.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211350.51,3642.8451,N,-12154.4561,W,1,03,00.5,070.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 1740.000802 : TerrainNav update at dvl time = 1740.000802 : _navData-> (x,y) = (4063711.59, 597561.96) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.48 17.96 3.72 3.83 0 9177.34 06:17:30 m : Estimated North Bias at time = 1740.00 : 9.21 : Estimated East Bias at time = 1740.00 : -0.36 : Estimated Depth Bias at time = 1740.00 : -0.05 : Estimated northing and easting = 4063720.80 : 597561.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211352.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211351.51,3642.8447,N,-12154.4553,W,1,03,00.5,071.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211353.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211352.51,3642.8442,N,-12154.4545,W,1,03,00.5,071.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211354.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211353.51,3642.8437,N,-12154.4536,W,1,03,00.5,070.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211355.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211354.51,3642.8431,N,-12154.4526,W,1,03,00.5,071.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211356.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211355.51,3642.8425,N,-12154.4516,W,1,03,00.5,070.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 1745.000459 : TerrainNav update at dvl time = 1745.000459 : _navData-> (x,y) = (4063706.78, 597568.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211357.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211356.51,3642.8419,N,-12154.4507,W,1,03,00.5,071.6,M,-99.9,M,,*45 : Estimated North Bias at time = 1745.00 : 9.78 : Estimated East Bias at time = 1745.00 : -1.23 : Estimated Depth Bias at time = 1745.00 : -0.05 : Estimated northing and easting = 4063716.56 : 597567.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211358.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211357.51,3642.8413,N,-12154.4498,W,1,03,00.5,071.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211359.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211358.51,3642.8408,N,-12154.4490,W,1,03,00.5,071.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 5.26 16.40 3.78 3.83 0 -9380.10 06:17:37 m : AshtechGps::processRecord() - $GPGGA,211400.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211359.51,3642.8403,N,-12154.4480,W,1,03,00.5,072.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211401.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211400.51,3642.8397,N,-12154.4469,W,1,03,00.5,072.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 1750.000117 : TerrainNav update at dvl time = 1750.000117 : _navData-> (x,y) = (4063701.66, 597575.82) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.60 4.25 17.87 3.72 3.83 0 9176.87 06:17:40 m : AshtechGps::processRecord() - $GPGGA,211402.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211401.51,3642.8392,N,-12154.4459,W,1,03,00.5,073.0,M,-99.9,M,,*4a : Estimated North Bias at time = 1750.00 : 8.93 : Estimated East Bias at time = 1750.00 : -1.16 : Estimated Depth Bias at time = 1750.00 : -0.05 : Estimated northing and easting = 4063710.59 : 597574.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211403.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211402.51,3642.8387,N,-12154.4449,W,1,03,00.5,072.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211404.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211403.51,3642.8382,N,-12154.4439,W,1,03,00.5,072.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211405.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211404.51,3642.8376,N,-12154.4429,W,1,03,00.5,072.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211406.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211405.51,3642.8370,N,-12154.4419,W,1,03,00.5,072.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1754.999774 : TerrainNav update at dvl time = 1754.999774 : _navData-> (x,y) = (4063696.78, 597583.31) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211407.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211406.51,3642.8364,N,-12154.4409,W,1,03,00.5,072.5,M,-99.9,M,,*45 : Estimated North Bias at time = 1755.00 : 8.57 : Estimated East Bias at time = 1755.00 : -0.54 : Estimated Depth Bias at time = 1755.00 : -0.05 : Estimated northing and easting = 4063705.35 : 597582.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=2.36 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211408.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211407.51,3642.8357,N,-12154.4398,W,1,03,00.5,073.1,M,-99.9,M,,*4e : LayeredControl::execute() -- (t = 1801.196609) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1801.196609) Behavior getgps:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,211409.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,211408.51,3642.8351,N,-12154.4388,W,1,03,00.5,073.4,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.45 4.93 16.50 3.78 3.83 0 -9380.45 06:17:47 m : AshtechGps::processRecord() - $GPGGA,211410.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211409.50,3642.8345,N,-12154.4378,W,1,03,00.5,073.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211411.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211410.50,3642.8340,N,-12154.4369,W,1,03,00.5,073.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 1759.999432 : TerrainNav update at dvl time = 1759.999432 : _navData-> (x,y) = (4063691.32, 597590.71) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.75 0.94 17.96 3.72 3.83 0 9176.59 06:17:50 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211412.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211411.50,3642.8336,N,-12154.4362,W,1,03,00.5,073.9,M,-99.9,M,,*42 : Estimated North Bias at time = 1760.00 : 8.28 : Estimated East Bias at time = 1760.00 : -0.21 : Estimated Depth Bias at time = 1760.00 : -0.05 : Estimated northing and easting = 4063699.60 : 597590.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211413.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211412.50,3642.8334,N,-12154.4355,W,1,03,00.5,072.7,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211414.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211413.50,3642.8332,N,-12154.4348,W,1,03,00.5,072.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211415.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211414.50,3642.8329,N,-12154.4339,W,1,03,00.5,075.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211416.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,211415.50,3642.8326,N,-12154.4327,W,1,03,00.5,075.6,M,-99.9,M,,*4f : TerrainNav update at nav time = 1764.999089 : TerrainNav update at dvl time = 1764.999089 : _navData-> (x,y) = (4063688.81, 597597.16) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211417.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211416.50,3642.8323,N,-12154.4315,W,1,03,00.5,075.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 1765.00 : 7.02 : Estimated East Bias at time = 1765.00 : -0.56 : Estimated Depth Bias at time = 1765.00 : -0.05 : Estimated northing and easting = 4063695.83 : 597596.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211418.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211417.50,3642.8322,N,-12154.4305,W,1,03,00.5,075.4,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211419.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211418.50,3642.8321,N,-12154.4295,W,1,03,00.5,076.0,M,-99.9,M,,*48 : BluefinBatt Reply: $aaq0 d- 30.60 2.52 16.40 3.78 3.83 0 -9380.85 06:17:57 m : AshtechGps::processRecord() - $GPGGA,211420.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211419.50,3642.8322,N,-12154.4289,W,1,03,00.5,073.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211421.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211420.50,3642.8323,N,-12154.4283,W,1,03,00.5,075.0,M,-99.9,M,,*45 : TerrainNav update at nav time = 1769.998747 : TerrainNav update at dvl time = 1769.998747 : _navData-> (x,y) = (4063688.64, 597603.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 30.78 1.10 17.87 3.75 3.85 0 9176.49 06:18:00 m : AshtechGps::processRecord() - $GPGGA,211422.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211421.50,3642.8325,N,-12154.4277,W,1,03,00.5,074.5,M,-99.9,M,,*4d : Estimated North Bias at time = 1770.00 : 4.37 : Estimated East Bias at time = 1770.00 : 2.13 : Estimated Depth Bias at time = 1770.00 : -0.05 : Estimated northing and easting = 4063693.00 : 597605.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,211423.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,211422.50,3642.8326,N,-12154.4270,W,1,03,00.5,073.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,211424.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211423.50,3642.8327,N,-12154.4265,W,1,03,00.5,073.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211425.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211424.50,3642.8328,N,-12154.4261,W,1,03,00.5,073.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211426.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211425.50,3642.8329,N,-12154.4257,W,1,03,00.5,073.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 1774.998404 : TerrainNav update at dvl time = 1774.998404 : _navData-> (x,y) = (4063689.79, 597607.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211427.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211426.50,3642.8330,N,-12154.4251,W,1,03,00.5,074.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 1775.00 : 5.33 : Estimated East Bias at time = 1775.00 : 2.53 : Estimated Depth Bias at time = 1775.00 : -0.05 : Estimated northing and easting = 4063695.11 : 597609.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211428.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211427.50,3642.8332,N,-12154.4247,W,1,03,00.5,074.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211429.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211428.50,3642.8334,N,-12154.4243,W,1,03,00.5,073.1,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.60 1.70 16.40 3.81 3.85 0 -9381.00 06:18:07 m : AshtechGps::processRecord() - $GPGGA,211430.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,211429.50,3642.8335,N,-12154.4238,W,1,03,00.5,075.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,211431.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211430.50,3642.8335,N,-12154.4231,W,1,03,00.5,075.2,M,-99.9,M,,*48 : TerrainNav update at nav time = 1779.998062 : TerrainNav update at dvl time = 1779.998062 : _navData-> (x,y) = (4063690.86, 597611.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $b3q0 d- 30.78 0.94 17.87 3.75 3.85 0 9176.44 06:18:10 m : AshtechGps::processRecord() - $GPGGA,211432.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211431.50,3642.8336,N,-12154.4227,W,1,03,00.5,073.6,M,-99.9,M,,*4f : Estimated North Bias at time = 1780.00 : 5.46 : Estimated East Bias at time = 1780.00 : 2.31 : Estimated Depth Bias at time = 1780.00 : -0.05 : Estimated northing and easting = 4063696.32 : 597613.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.780000 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211433.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211432.50,3642.8337,N,-12154.4224,W,1,03,00.5,074.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,211434.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211433.50,3642.8340,N,-12154.4221,W,1,03,00.5,073.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211435.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211434.50,3642.8342,N,-12154.4217,W,1,03,00.5,074.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211436.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211435.50,3642.8343,N,-12154.4213,W,1,03,00.5,073.3,M,-99.9,M,,*4b : TerrainNav update at nav time = 1784.997719 : TerrainNav update at dvl time = 1784.997719 : _navData-> (x,y) = (4063692.45, 597613.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211437.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,211436.50,3642.8345,N,-12154.4210,W,1,03,00.5,075.0,M,-99.9,M,,*48 : Estimated North Bias at time = 1785.00 : 4.18 : Estimated East Bias at time = 1785.00 : 2.75 : Estimated Depth Bias at time = 1785.00 : -0.05 : Estimated northing and easting = 4063696.63 : 597616.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211438.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211437.50,3642.8345,N,-12154.4208,W,1,03,00.5,073.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211439.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211438.50,3642.8346,N,-12154.4206,W,1,03,00.5,076.7,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.64 1.70 16.40 3.81 3.85 0 -9381.21 06:18:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211440.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211439.50,3642.8347,N,-12154.4204,W,1,03,00.5,077.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211441.00,3642.89721,N,12154.37558,W,1,09,0.9,-5.49,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : NMEA Update: $GPGGA,211440.50,3642.8348,N,-12154.4204,W,1,03,00.5,072.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1789.997377 : TerrainNav update at dvl time = 1789.997377 : _navData-> (x,y) = (4063809.45, 597680.55) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1790.00 : 4.22 : Estimated East Bias at time = 1790.00 : 2.75 : Estimated Depth Bias at time = 1790.00 : -0.05 : Estimated northing and easting = 4063813.66 : 597683.30 : BluefinBatt Reply: $b3q0 d- 30.75 1.10 17.87 3.75 3.85 0 9176.35 06:18:20 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211442.00,3642.89787,N,12154.37601,W,1,09,0.9,-4.36,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,211441.50,3642.8972,N,-12154.3755,W,1,03,00.5,075.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.780000 : AshtechGps::processRecord() - $GPGGA,211443.00,3642.89810,N,12154.37580,W,1,09,0.9,-3.67,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : NMEA Update: $GPGGA,211442.50,3642.8979,N,-12154.3760,W,1,03,00.5,077.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,211444.00,3642.89811,N,12154.37529,W,1,09,0.9,-4.51,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,211443.50,3642.8981,N,-12154.3757,W,1,03,00.5,068.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,211445.00,3642.89825,N,12154.37505,W,1,10,0.9,-4.05,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : NMEA Update: $GPGGA,211444.50,3642.8981,N,-12154.3753,W,1,03,00.5,076.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211446.00,3642.89828,N,12154.37444,W,1,10,0.9,-4.12,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,211445.50,3642.8983,N,-12154.3750,W,1,03,00.5,065.8,M,-99.9,M,,*43 : TerrainNav update at nav time = 1794.997034 : TerrainNav update at dvl time = 1794.997034 : _navData-> (x,y) = (4063811.45, 597682.20) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1795.00 : 4.27 : Estimated East Bias at time = 1795.00 : 2.72 : Estimated Depth Bias at time = 1795.00 : -0.05 : Estimated northing and easting = 4063815.72 : 597684.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211447.00,3642.89844,N,12154.37442,W,1,11,0.8,-4.65,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : NMEA Update: $GPGGA,211446.50,3642.8983,N,-12154.3744,W,1,03,00.5,086.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,211448.00,3642.89850,N,12154.37400,W,1,11,0.8,-5.07,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : NMEA Update: $GPGGA,211447.50,3642.8984,N,-12154.3743,W,1,03,00.5,074.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211449.00,3642.89873,N,12154.37408,W,1,11,0.8,-5.10,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,211448.50,3642.8985,N,-12154.3740,W,1,03,00.5,073.4,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.64 1.48 16.40 3.80 3.85 0 -9381.32 06:18:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,211450.00,3642.89891,N,12154.37411,W,1,11,0.8,-5.22,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 1842.593774) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1842.593774) Behavior descend:-1 has changed to state Active : NMEA Update: $GPGGA,211449.50,3642.8988,N,-12154.3741,W,1,03,00.5,075.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,211451.00,3642.89898,N,12154.37409,W,1,11,0.8,-4.64,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211450.50,3642.8990,N,-12154.3741,W,1,03,00.5,073.7,M,-99.9,M,,*4d : TerrainNav update at nav time = 1799.996692 : TerrainNav update at dvl time = 1799.996692 : _navData-> (x,y) = (4063812.80, 597682.66) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1800.00 : 4.26 : Estimated East Bias at time = 1800.00 : 2.67 : Estimated Depth Bias at time = 1800.00 : -0.05 : Estimated northing and easting = 4063817.06 : 597685.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.78 1.25 17.87 3.75 3.85 0 9176.29 06:18:30 m : AshtechGps::processRecord() - $GPGGA,211452.00,3642.89900,N,12154.37388,W,1,11,0.8,-4.31,M,-32.59,M,,*73 : NMEA Update: $GPGGA,211451.50,3642.8990,N,-12154.3741,W,1,03,00.5,074.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,211453.00,3642.89908,N,12154.37324,W,1,11,0.8,-3.79,M,-32.59,M,,*77 : NMEA Update: $GPGGA,211452.50,3642.8990,N,-12154.3738,W,1,03,00.5,075.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211454.00,3642.89927,N,12154.37296,W,1,11,0.8,-3.65,M,-32.59,M,,*78 : NMEA Update: $GPGGA,211453.50,3642.8991,N,-12154.3731,W,1,03,00.5,077.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,211455.00,3642.89952,N,12154.37235,W,1,11,0.8,-3.87,M,-32.59,M,,*7E : NMEA Update: $GPGGA,211454.50,3642.8993,N,-12154.3729,W,1,03,00.5,075.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211456.00,3642.89985,N,12154.37212,W,1,11,0.8,-4.39,M,-32.59,M,,*70 : NMEA Update: $GPGGA,211455.50,3642.8996,N,-12154.3723,W,1,03,00.5,075.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 1804.996349 : TerrainNav update at dvl time = 1804.996349 : _navData-> (x,y) = (4063814.45, 597685.72) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1805.00 : 4.26 : Estimated East Bias at time = 1805.00 : 2.65 : Estimated Depth Bias at time = 1805.00 : -0.05 : Estimated northing and easting = 4063818.71 : 597688.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211457.00,3642.90008,N,12154.37201,W,1,11,0.8,-4.61,M,-32.59,M,,*7A : NMEA Update: $GPGGA,211456.50,3642.8999,N,-12154.3721,W,1,03,00.5,075.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211458.00,3642.90030,N,12154.37189,W,1,11,0.8,-4.64,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211457.50,3642.9001,N,-12154.3720,W,1,03,00.5,073.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211459.00,3642.90055,N,12154.37177,W,1,11,0.8,-4.56,M,-32.59,M,,*7A : NMEA Update: $GPGGA,211458.50,3642.9003,N,-12154.3718,W,1,03,00.5,074.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 4.97 16.40 3.80 3.85 0 -9381.69 06:18:37 m : AshtechGps::processRecord() - $GPGGA,211500.00,3642.90081,N,12154.37167,W,1,11,0.8,-4.68,M,-32.59,M,,*72 : NMEA Update: $GPGGA,211459.50,3642.9006,N,-12154.3717,W,1,03,00.5,075.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211501.00,3642.90102,N,12154.37143,W,1,11,0.8,-4.35,M,-32.59,M,,*77 : NMEA Update: $GPGGA,211500.50,3642.9009,N,-12154.3716,W,1,03,00.5,073.4,M,-99.9,M,,*40 : TerrainNav update at nav time = 1809.996007 : TerrainNav update at dvl time = 1809.996007 : _navData-> (x,y) = (4063816.62, 597686.67) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1810.00 : 4.30 : Estimated East Bias at time = 1810.00 : 2.59 : Estimated Depth Bias at time = 1810.00 : -0.05 : Estimated northing and easting = 4063820.92 : 597689.26 : BluefinBatt Reply: $b3q0 d- 30.63 3.72 17.77 3.73 3.85 0 9175.94 06:18:40 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211502.00,3642.90124,N,12154.37131,W,1,11,0.8,-4.43,M,-32.59,M,,*74 : NMEA Update: $GPGGA,211501.50,3642.9010,N,-12154.3714,W,1,03,00.5,073.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,211503.00,3642.90152,N,12154.37082,W,1,11,0.8,-4.16,M,-32.59,M,,*7D : NMEA Update: $GPGGA,211502.50,3642.9013,N,-12154.3713,W,1,03,00.5,077.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211504.00,3642.90191,N,12154.37048,W,1,11,0.8,-4.21,M,-32.59,M,,*77 : NMEA Update: $GPGGA,211503.50,3642.9016,N,-12154.3707,W,1,03,00.5,074.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,211505.00,3642.90223,N,12154.37008,W,1,11,0.8,-4.32,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211504.50,3642.9020,N,-12154.3704,W,1,03,00.5,077.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211506.00,3642.90267,N,12154.37000,W,1,11,0.8,-5.14,M,-32.59,M,,*74 : NMEA Update: $GPGGA,211505.50,3642.9023,N,-12154.3700,W,1,03,00.5,075.6,M,-99.9,M,,*4e : TerrainNav update at nav time = 1814.995664 : TerrainNav update at dvl time = 1814.995664 : _navData-> (x,y) = (4063819.74, 597688.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1815.00 : 4.31 : Estimated East Bias at time = 1815.00 : 2.60 : Estimated Depth Bias at time = 1815.00 : -0.05 : Estimated northing and easting = 4063824.05 : 597691.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211507.00,3642.90302,N,12154.36992,W,1,11,0.8,-5.20,M,-32.59,M,,*73 : NMEA Update: $GPGGA,211506.50,3642.9028,N,-12154.3699,W,1,03,00.5,075.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211508.00,3642.90325,N,12154.36952,W,1,11,0.8,-4.68,M,-32.59,M,,*78 : NMEA Update: $GPGGA,211507.50,3642.9031,N,-12154.3699,W,1,03,00.5,074.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,211509.00,3642.90354,N,12154.36908,W,1,11,0.8,-4.45,M,-32.59,M,,*7F : NMEA Update: $GPGGA,211508.50,3642.9033,N,-12154.3694,W,1,03,00.5,074.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.49 4.78 16.40 3.79 3.83 0 -9381.96 06:18:47 m : AshtechGps::processRecord() - $GPGGA,211510.00,3642.90384,N,12154.36865,W,1,11,0.8,-4.37,M,-32.59,M,,*75 : NMEA Update: $GPGGA,211509.50,3642.9036,N,-12154.3690,W,1,03,00.5,080.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211511.00,3642.90421,N,12154.36822,W,1,11,0.8,-4.27,M,-32.59,M,,*7E : NMEA Update: $GPGGA,211510.50,3642.9039,N,-12154.3685,W,1,03,00.5,074.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 1819.995322 : TerrainNav update at dvl time = 1819.995322 : _navData-> (x,y) = (4063822.56, 597691.45) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1820.00 : 4.31 : Estimated East Bias at time = 1820.00 : 2.63 : Estimated Depth Bias at time = 1820.00 : -0.06 : Estimated northing and easting = 4063826.87 : 597694.08 : BluefinBatt Reply: $b3q0 d- 30.63 3.57 17.87 3.73 3.85 0 9175.72 06:18:50 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211512.00,3642.90467,N,12154.36788,W,1,11,0.8,-4.52,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211511.50,3642.9042,N,-12154.3681,W,1,03,00.5,072.9,M,-99.9,M,,*4c : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,211513.00,3642.90508,N,12154.36742,W,1,11,0.8,-4.51,M,-32.59,M,,*7E : NMEA Update: $GPGGA,211512.50,3642.9047,N,-12154.3678,W,1,03,00.5,079.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211514.00,3642.90566,N,12154.36724,W,1,11,0.8,-4.22,M,-32.59,M,,*75 : NMEA Update: $GPGGA,211513.50,3642.9051,N,-12154.3673,W,1,03,00.5,075.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211515.00,3642.90595,N,12154.36643,W,1,11,0.8,-4.18,M,-32.59,M,,*71 : NMEA Update: $GPGGA,211514.50,3642.9057,N,-12154.3671,W,1,03,00.5,075.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211516.00,3642.90645,N,12154.36587,W,1,11,0.8,-4.50,M,-32.59,M,,*7B : NMEA Update: $GPGGA,211515.50,3642.9060,N,-12154.3662,W,1,03,00.5,076.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1824.994979 : TerrainNav update at dvl time = 1824.994979 : _navData-> (x,y) = (4063826.74, 597695.01) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1824.99 : 4.30 : Estimated East Bias at time = 1824.99 : 2.63 : Estimated Depth Bias at time = 1824.99 : -0.05 : Estimated northing and easting = 4063831.04 : 597697.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211517.00,3642.90673,N,12154.36533,W,1,11,0.8,-4.54,M,-32.59,M,,*74 : NMEA Update: $GPGGA,211516.50,3642.9065,N,-12154.3657,W,1,03,00.5,074.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211518.00,3642.90713,N,12154.36493,W,1,11,0.8,-4.28,M,-32.59,M,,*7C : NMEA Update: $GPGGA,211517.50,3642.9068,N,-12154.3652,W,1,03,00.5,075.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,211519.00,3642.90728,N,12154.36409,W,1,11,0.8,-4.25,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211518.50,3642.9072,N,-12154.3648,W,1,03,00.5,075.6,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.49 4.56 16.40 3.79 3.83 0 -9382.38 06:18:57 m : AshtechGps::processRecord() - $GPGGA,211520.00,3642.90756,N,12154.36345,W,1,11,0.8,-4.20,M,-32.59,M,,*72 : NMEA Update: $GPGGA,211519.50,3642.9073,N,-12154.3639,W,1,03,00.5,074.7,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211521.00,3642.90781,N,12154.36276,W,1,11,0.8,-4.64,M,-32.59,M,,*78 : NMEA Update: $GPGGA,211520.50,3642.9075,N,-12154.3633,W,1,03,00.5,075.3,M,-99.9,M,,*4e : TerrainNav update at nav time = 1829.994637 : TerrainNav update at dvl time = 1829.994637 : _navData-> (x,y) = (4063829.25, 597699.59) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1829.99 : 4.27 : Estimated East Bias at time = 1829.99 : 2.62 : Estimated Depth Bias at time = 1829.99 : -0.06 : Estimated northing and easting = 4063833.52 : 597702.21 : BluefinBatt Reply: $b3q0 d- 30.60 4.03 17.87 3.73 3.84 0 9175.31 06:19:00 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211522.00,3642.90802,N,12154.36213,W,1,11,0.8,-4.90,M,-32.59,M,,*77 : NMEA Update: $GPGGA,211521.51,3642.9078,N,-12154.3626,W,1,03,00.5,074.6,M,-99.9,M,,*43 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,211523.00,3642.90835,N,12154.36164,W,1,11,0.8,-4.96,M,-32.59,M,,*77 : NMEA Update: $GPGGA,211522.51,3642.9080,N,-12154.3620,W,1,03,00.5,074.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211524.00,3642.90851,N,12154.36106,W,1,11,0.8,-4.85,M,-32.59,M,,*74 : NMEA Update: $GPGGA,211523.51,3642.9084,N,-12154.3615,W,1,03,00.5,073.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211525.00,3642.90872,N,12154.36037,W,1,11,0.8,-4.39,M,-32.59,M,,*70 : NMEA Update: $GPGGA,211524.51,3642.9085,N,-12154.3609,W,1,03,00.5,073.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,211526.00,3642.90879,N,12154.35942,W,1,11,0.8,-4.06,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211525.51,3642.9087,N,-12154.3602,W,1,03,00.5,075.3,M,-99.9,M,,*45 : TerrainNav update at nav time = 1834.994294 : TerrainNav update at dvl time = 1834.994294 : _navData-> (x,y) = (4063831.06, 597704.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1834.99 : 4.27 : Estimated East Bias at time = 1834.99 : 2.59 : Estimated Depth Bias at time = 1834.99 : -0.06 : Estimated northing and easting = 4063835.33 : 597707.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211527.00,3642.90895,N,12154.35846,W,1,11,0.8,-4.35,M,-32.59,M,,*7A : NMEA Update: $GPGGA,211526.51,3642.9087,N,-12154.3592,W,1,03,00.5,075.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211528.00,3642.90894,N,12154.35756,W,1,11,0.8,-4.30,M,-32.59,M,,*7F : NMEA Update: $GPGGA,211527.51,3642.9089,N,-12154.3583,W,1,03,00.5,074.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211529.00,3642.90883,N,12154.35659,W,1,12,0.7,-4.57,M,-32.59,M,,*7B : NMEA Update: $GPGGA,211528.51,3642.9089,N,-12154.3574,W,1,03,00.5,075.3,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.49 5.01 16.40 3.78 3.83 0 -9382.69 06:19:07 m : AshtechGps::processRecord() - $GPGGA,211530.00,3642.90886,N,12154.35578,W,1,12,0.7,-4.98,M,-32.59,M,,*75 : NMEA Update: $GPGGA,211529.51,3642.9087,N,-12154.3564,W,1,03,00.5,075.2,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211531.00,3642.90877,N,12154.35509,W,1,12,0.7,-5.00,M,-32.59,M,,*7C : NMEA Update: $GPGGA,211530.51,3642.9088,N,-12154.3557,W,1,03,00.5,074.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 1839.993952 : TerrainNav update at dvl time = 1839.993952 : _navData-> (x,y) = (4063831.07, 597710.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1839.99 : 4.27 : Estimated East Bias at time = 1839.99 : 2.66 : Estimated Depth Bias at time = 1839.99 : -0.06 : BluefinBatt Reply: $b3q0 d- 30.67 2.69 17.87 3.73 3.84 0 9175.04 06:19:10 m : Estimated northing and easting = 4063835.34 : 597713.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211532.00,3642.90865,N,12154.35438,W,1,12,0.7,-5.10,M,-32.59,M,,*7E : NMEA Update: $GPGGA,211531.51,3642.9087,N,-12154.3550,W,1,03,00.5,073.7,M,-99.9,M,,*46 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,211533.00,3642.90843,N,12154.35371,W,1,12,0.7,-5.42,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211532.51,3642.9086,N,-12154.3543,W,1,03,00.5,075.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,211534.00,3642.90879,N,12154.35408,W,1,12,0.7,-4.13,M,-32.59,M,,*74 : NMEA Update: $GPGGA,211533.51,3642.9084,N,-12154.3536,W,1,03,00.5,074.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211535.00,,,,,0,01,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211534.51,3642.9087,N,-12154.3540,W,1,03,00.5,073.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211536.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211535.51,3642.9084,N,-12154.3535,W,1,03,00.5,074.8,M,-99.9,M,,*4a : TerrainNav update at nav time = 1844.993609 : TerrainNav update at dvl time = 1844.993609 : _navData-> (x,y) = (4063830.45, 597713.20) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211537.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211536.51,3642.9081,N,-12154.3529,W,1,03,00.5,078.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1844.99 : 3.18 : Estimated East Bias at time = 1844.99 : 4.98 : Estimated Depth Bias at time = 1844.99 : -0.06 : Estimated northing and easting = 4063833.63 : 597718.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211538.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211537.51,3642.9076,N,-12154.3522,W,1,03,00.5,076.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211539.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211538.51,3642.9072,N,-12154.3515,W,1,03,00.5,074.0,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.45 4.97 16.40 3.78 3.83 0 -9383.15 06:19:17 m : AshtechGps::processRecord() - $GPGGA,211540.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211539.51,3642.9068,N,-12154.3510,W,1,03,00.5,074.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211541.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211540.51,3642.9063,N,-12154.3505,W,1,03,00.5,075.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 1849.993267 : TerrainNav update at dvl time = 1849.993267 : _navData-> (x,y) = (4063826.39, 597717.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.56 4.56 17.87 3.72 3.83 0 9174.63 06:19:20 m : AshtechGps::processRecord() - $GPGGA,211542.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211541.51,3642.9057,N,-12154.3501,W,1,03,00.5,074.4,M,-99.9,M,,*4c : Estimated North Bias at time = 1849.99 : 4.39 : Estimated East Bias at time = 1849.99 : 4.29 : Estimated Depth Bias at time = 1849.99 : -0.06 : Estimated northing and easting = 4063830.78 : 597721.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211543.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211542.51,3642.9050,N,-12154.3497,W,1,03,00.5,073.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211544.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211543.51,3642.9043,N,-12154.3494,W,1,03,00.5,073.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211545.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211544.51,3642.9036,N,-12154.3491,W,1,03,00.5,073.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211546.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211545.51,3642.9030,N,-12154.3488,W,1,03,00.5,073.2,M,-99.9,M,,*48 : TerrainNav update at nav time = 1855.002924 : TerrainNav update at dvl time = 1855.002924 : _navData-> (x,y) = (4063820.43, 597720.24) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211547.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211546.51,3642.9024,N,-12154.3485,W,1,03,00.5,072.7,M,-99.9,M,,*47 : Estimated North Bias at time = 1855.00 : 4.81 : Estimated East Bias at time = 1855.00 : 5.03 : Estimated Depth Bias at time = 1855.00 : -0.06 : Estimated northing and easting = 4063825.24 : 597725.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211548.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211547.51,3642.9018,N,-12154.3483,W,1,03,00.5,073.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211549.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211548.51,3642.9011,N,-12154.3480,W,1,03,00.5,073.3,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.41 5.97 16.40 3.78 3.82 0 -9383.53 06:19:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211550.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211549.51,3642.9004,N,-12154.3478,W,1,03,00.5,072.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,211551.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211550.51,3642.8997,N,-12154.3474,W,1,03,00.5,072.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1860.002581 : TerrainNav update at dvl time = 1860.002581 : _navData-> (x,y) = (4063814.20, 597722.41) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.64 17.77 3.72 3.83 0 9174.31 06:19:30 m : AshtechGps::processRecord() - $GPGGA,211552.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211551.51,3642.8989,N,-12154.3472,W,1,03,00.5,072.2,M,-99.9,M,,*43 : Estimated North Bias at time = 1860.00 : 5.51 : Estimated East Bias at time = 1860.00 : 5.18 : Estimated Depth Bias at time = 1860.00 : -0.06 : Estimated northing and easting = 4063819.71 : 597727.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211553.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211552.51,3642.8982,N,-12154.3470,W,1,03,00.5,071.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211554.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211553.51,3642.8975,N,-12154.3470,W,1,03,00.5,071.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211555.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211554.51,3642.8967,N,-12154.3468,W,1,03,00.5,072.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211556.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211555.51,3642.8959,N,-12154.3465,W,1,03,00.5,071.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 1865.002239 : TerrainNav update at dvl time = 1865.002239 : _navData-> (x,y) = (4063807.13, 597723.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211557.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211556.51,3642.8951,N,-12154.3462,W,1,03,00.5,070.7,M,-99.9,M,,*47 : Estimated North Bias at time = 1865.00 : 5.51 : Estimated East Bias at time = 1865.00 : 6.40 : Estimated Depth Bias at time = 1865.00 : -0.05 : Estimated northing and easting = 4063812.65 : 597730.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211558.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211557.51,3642.8943,N,-12154.3459,W,1,03,00.5,071.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211559.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211558.51,3642.8935,N,-12154.3454,W,1,03,00.5,070.5,M,-99.9,M,,*4c : BluefinBatt Reply: $aaq0 d- 30.45 5.23 16.40 3.78 3.82 0 -9384.07 06:19:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211600.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211559.51,3642.8928,N,-12154.3450,W,1,03,00.5,070.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,211601.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211600.51,3642.8921,N,-12154.3447,W,1,03,00.5,070.8,M,-99.9,M,,*48 : TerrainNav update at nav time = 1870.001896 : TerrainNav update at dvl time = 1870.001896 : _navData-> (x,y) = (4063800.19, 597726.60) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.37 17.87 3.72 3.83 0 9173.86 06:19:40 m : AshtechGps::processRecord() - $GPGGA,211602.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211601.51,3642.8913,N,-12154.3445,W,1,03,00.5,069.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1870.00 : 4.69 : Estimated East Bias at time = 1870.00 : 5.61 : Estimated Depth Bias at time = 1870.00 : -0.05 : Estimated northing and easting = 4063804.89 : 597732.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211603.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211602.51,3642.8905,N,-12154.3444,W,1,03,00.5,069.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211604.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211603.51,3642.8897,N,-12154.3444,W,1,03,00.5,069.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211605.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211604.51,3642.8888,N,-12154.3443,W,1,03,00.5,069.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211606.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211605.51,3642.8880,N,-12154.3441,W,1,03,00.5,068.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 1875.001554 : TerrainNav update at dvl time = 1875.001554 : _navData-> (x,y) = (4063792.61, 597727.62) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211607.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211606.51,3642.8872,N,-12154.3438,W,1,03,00.5,068.6,M,-99.9,M,,*46 : Estimated North Bias at time = 1875.00 : 5.22 : Estimated East Bias at time = 1875.00 : 6.03 : Estimated Depth Bias at time = 1875.00 : -0.05 : Estimated northing and easting = 4063797.83 : 597733.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211608.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211607.51,3642.8865,N,-12154.3433,W,1,03,00.5,069.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211609.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211608.51,3642.8857,N,-12154.3429,W,1,03,00.5,069.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 5.23 16.40 3.78 3.83 0 -9384.42 06:19:47 m : AshtechGps::processRecord() - $GPGGA,211610.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211609.51,3642.8849,N,-12154.3426,W,1,03,00.5,068.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211611.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211610.51,3642.8841,N,-12154.3423,W,1,03,00.5,068.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 1880.001211 : TerrainNav update at dvl time = 1880.001211 : _navData-> (x,y) = (4063785.39, 597730.30) : _tercom->outstandingMeas() = 0 : Descend::execute() - Descend terminating on depth 8.035986 > 8.000000 at time 1923.998197 : LayeredControl::execute() -- (t = 1923.998197) Behavior descend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 1923.998197) Behavior setpoint:-1 has changed to state Active : BluefinBatt Reply: $b3q0 d- 30.56 4.44 17.87 3.72 3.83 0 9173.55 06:19:50 m : AshtechGps::processRecord() - $GPGGA,211612.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211611.51,3642.8832,N,-12154.3421,W,1,03,00.5,067.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1880.00 : 5.18 : Estimated East Bias at time = 1880.00 : 5.76 : Estimated Depth Bias at time = 1880.00 : -0.05 : Estimated northing and easting = 4063790.57 : 597736.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211613.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211612.51,3642.8824,N,-12154.3419,W,1,03,00.5,068.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211614.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211613.51,3642.8816,N,-12154.3417,W,1,03,00.5,067.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,211615.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211614.51,3642.8807,N,-12154.3415,W,1,03,00.5,067.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211616.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211615.51,3642.8799,N,-12154.3414,W,1,03,00.5,066.9,M,-99.9,M,,*41 : TerrainNav update at nav time = 1885.000869 : TerrainNav update at dvl time = 1885.000869 : _navData-> (x,y) = (4063777.75, 597731.75) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211617.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211616.51,3642.8791,N,-12154.3413,W,1,03,00.5,066.6,M,-99.9,M,,*42 : Estimated North Bias at time = 1885.00 : 5.19 : Estimated East Bias at time = 1885.00 : 6.19 : Estimated Depth Bias at time = 1885.00 : -0.05 : Estimated northing and easting = 4063782.94 : 597737.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211618.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211617.51,3642.8784,N,-12154.3412,W,1,03,00.5,067.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,211619.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211618.51,3642.8776,N,-12154.3411,W,1,03,00.5,066.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 5.45 16.40 3.78 3.83 0 -9384.96 06:19:57 m : AshtechGps::processRecord() - $GPGGA,211620.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211619.51,3642.8767,N,-12154.3408,W,1,03,00.5,067.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211621.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211620.51,3642.8759,N,-12154.3405,W,1,03,00.5,067.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 1890.000526 : TerrainNav update at dvl time = 1890.000526 : _navData-> (x,y) = (4063770.33, 597733.25) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 5.01 17.87 3.72 3.83 0 9173.13 06:20:00 m : AshtechGps::processRecord() - $GPGGA,211622.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211621.51,3642.8751,N,-12154.3402,W,1,03,00.5,067.0,M,-99.9,M,,*4d : Estimated North Bias at time = 1890.00 : 5.29 : Estimated East Bias at time = 1890.00 : 5.52 : Estimated Depth Bias at time = 1890.00 : -0.05 : Estimated northing and easting = 4063775.63 : 597738.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211623.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211622.51,3642.8743,N,-12154.3398,W,1,03,00.5,067.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211624.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211623.51,3642.8734,N,-12154.3395,W,1,03,00.5,067.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211625.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211624.51,3642.8726,N,-12154.3393,W,1,03,00.5,067.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211626.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211625.51,3642.8717,N,-12154.3391,W,1,03,00.5,067.6,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1895.000184 : TerrainNav update at dvl time = 1895.000184 : _navData-> (x,y) = (4063762.55, 597735.43) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211627.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211626.51,3642.8709,N,-12154.3389,W,1,03,00.5,066.7,M,-99.9,M,,*45 : Estimated North Bias at time = 1895.00 : 5.47 : Estimated East Bias at time = 1895.00 : 6.04 : Estimated Depth Bias at time = 1895.00 : -0.05 : Estimated northing and easting = 4063768.02 : 597741.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211628.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211627.51,3642.8700,N,-12154.3387,W,1,03,00.5,067.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,211629.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211628.51,3642.8692,N,-12154.3386,W,1,03,00.5,066.8,M,-99.9,M,,*48 : BluefinBatt Reply: $aaq0 d- 30.45 5.01 16.40 3.78 3.83 0 -9385.30 06:20:07 m : AshtechGps::processRecord() - $GPGGA,211630.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211629.51,3642.8685,N,-12154.3384,W,1,03,00.5,066.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211631.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211630.51,3642.8677,N,-12154.3382,W,1,03,00.5,066.8,M,-99.9,M,,*4e : TerrainNav update at nav time = 1899.999841 : TerrainNav update at dvl time = 1899.999841 : _navData-> (x,y) = (4063755.28, 597736.87) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.41 17.87 3.72 3.83 0 9172.83 06:20:10 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211632.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211631.51,3642.8669,N,-12154.3379,W,1,03,00.5,067.1,M,-99.9,M,,*4c : Estimated North Bias at time = 1900.00 : 4.90 : Estimated East Bias at time = 1900.00 : 6.09 : Estimated Depth Bias at time = 1900.00 : -0.05 : Estimated northing and easting = 4063760.18 : 597742.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211633.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211632.51,3642.8661,N,-12154.3377,W,1,03,00.5,066.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211634.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211633.51,3642.8652,N,-12154.3374,W,1,03,00.5,067.4,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211635.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211634.51,3642.8643,N,-12154.3371,W,1,03,00.5,066.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,211636.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211635.50,3642.8635,N,-12154.3369,W,1,03,00.5,066.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 1904.999499 : TerrainNav update at dvl time = 1904.999499 : _navData-> (x,y) = (4063747.41, 597738.91) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211637.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211636.50,3642.8627,N,-12154.3366,W,1,03,00.5,066.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1905.00 : 5.44 : Estimated East Bias at time = 1905.00 : 6.00 : Estimated Depth Bias at time = 1905.00 : -0.05 : Estimated northing and easting = 4063752.85 : 597744.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211638.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211637.50,3642.8618,N,-12154.3364,W,1,03,00.5,066.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211639.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211638.50,3642.8610,N,-12154.3362,W,1,03,00.5,066.3,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.45 4.89 16.40 3.78 3.83 0 -9385.81 06:20:17 m : AshtechGps::processRecord() - $GPGGA,211640.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211639.50,3642.8602,N,-12154.3361,W,1,03,00.5,066.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211641.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211640.50,3642.8595,N,-12154.3358,W,1,03,00.5,066.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 1909.999156 : TerrainNav update at dvl time = 1909.999156 : _navData-> (x,y) = (4063739.98, 597740.53) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.22 17.96 3.72 3.83 0 9172.38 06:20:20 m : AshtechGps::processRecord() - $GPGGA,211642.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211641.50,3642.8587,N,-12154.3356,W,1,03,00.5,066.5,M,-99.9,M,,*41 : Estimated North Bias at time = 1910.00 : 5.26 : Estimated East Bias at time = 1910.00 : 6.52 : Estimated Depth Bias at time = 1910.00 : -0.05 : Estimated northing and easting = 4063745.24 : 597747.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211643.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211642.50,3642.8578,N,-12154.3353,W,1,03,00.5,066.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,211644.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211643.50,3642.8570,N,-12154.3351,W,1,03,00.5,066.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211645.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211644.50,3642.8561,N,-12154.3349,W,1,03,00.5,066.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211646.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211645.50,3642.8552,N,-12154.3347,W,1,03,00.5,066.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 1914.998814 : TerrainNav update at dvl time = 1914.998814 : _navData-> (x,y) = (4063732.19, 597742.25) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211647.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211646.50,3642.8544,N,-12154.3345,W,1,03,00.5,066.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1915.00 : 5.73 : Estimated East Bias at time = 1915.00 : 6.88 : Estimated Depth Bias at time = 1915.00 : -0.05 : Estimated northing and easting = 4063737.92 : 597749.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211648.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211647.50,3642.8536,N,-12154.3342,W,1,03,00.5,066.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211649.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211648.50,3642.8527,N,-12154.3338,W,1,03,00.5,066.8,M,-99.9,M,,*47 : BluefinBatt Reply: $aaq0 d- 30.45 5.26 16.40 3.78 3.83 0 -9386.14 06:20:27 m : AshtechGps::processRecord() - $GPGGA,211650.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211649.50,3642.8519,N,-12154.3335,W,1,03,00.5,066.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,211651.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211650.50,3642.8512,N,-12154.3332,W,1,03,00.5,065.4,M,-99.9,M,,*4d : TerrainNav update at nav time = 1919.998471 : TerrainNav update at dvl time = 1919.998471 : _navData-> (x,y) = (4063724.69, 597744.53) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.56 4.44 17.87 3.72 3.83 0 9172.07 06:20:30 m : AshtechGps::processRecord() - $GPGGA,211652.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211651.50,3642.8504,N,-12154.3331,W,1,03,00.5,065.8,M,-99.9,M,,*44 : Estimated North Bias at time = 1920.00 : 5.31 : Estimated East Bias at time = 1920.00 : 6.13 : Estimated Depth Bias at time = 1920.00 : -0.05 : Estimated northing and easting = 4063730.00 : 597750.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211653.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211652.50,3642.8496,N,-12154.3329,W,1,03,00.5,066.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,211654.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211653.50,3642.8487,N,-12154.3328,W,1,03,00.5,066.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211655.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211654.50,3642.8479,N,-12154.3327,W,1,03,00.5,066.7,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211656.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211655.50,3642.8470,N,-12154.3325,W,1,03,00.5,066.5,M,-99.9,M,,*49 : TerrainNav update at nav time = 1924.998129 : TerrainNav update at dvl time = 1924.998129 : _navData-> (x,y) = (4063716.94, 597745.80) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211657.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211656.50,3642.8461,N,-12154.3322,W,1,03,00.5,066.4,M,-99.9,M,,*4c : Estimated North Bias at time = 1925.00 : 5.79 : Estimated East Bias at time = 1925.00 : 6.38 : Estimated Depth Bias at time = 1925.00 : -0.05 : Estimated northing and easting = 4063722.73 : 597752.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211658.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211657.50,3642.8452,N,-12154.3318,W,1,03,00.5,066.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211659.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211658.50,3642.8444,N,-12154.3314,W,1,03,00.5,066.7,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.41 5.23 16.40 3.78 3.83 0 -9386.65 06:20:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211700.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211659.50,3642.8436,N,-12154.3311,W,1,03,00.5,066.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,211701.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211700.50,3642.8427,N,-12154.3308,W,1,03,00.5,066.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1929.997786 : TerrainNav update at dvl time = 1929.997786 : _navData-> (x,y) = (4063709.16, 597748.29) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.44 17.87 3.72 3.83 0 9171.60 06:20:40 m : AshtechGps::processRecord() - $GPGGA,211702.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211701.50,3642.8419,N,-12154.3306,W,1,03,00.5,066.3,M,-99.9,M,,*41 : Estimated North Bias at time = 1930.00 : 5.38 : Estimated East Bias at time = 1930.00 : 6.44 : Estimated Depth Bias at time = 1930.00 : -0.05 : Estimated northing and easting = 4063714.54 : 597754.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211703.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211702.50,3642.8411,N,-12154.3304,W,1,03,00.5,066.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211704.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211703.50,3642.8403,N,-12154.3302,W,1,03,00.5,066.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211705.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211704.50,3642.8395,N,-12154.3300,W,1,03,00.5,066.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211706.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211705.50,3642.8387,N,-12154.3298,W,1,03,00.5,065.1,M,-99.9,M,,*42 : TerrainNav update at nav time = 1934.997444 : TerrainNav update at dvl time = 1934.997444 : _navData-> (x,y) = (4063701.67, 597749.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211707.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211706.50,3642.8378,N,-12154.3297,W,1,03,00.5,066.2,M,-99.9,M,,*4e : Estimated North Bias at time = 1935.00 : 5.36 : Estimated East Bias at time = 1935.00 : 6.57 : Estimated Depth Bias at time = 1935.00 : -0.06 : Estimated northing and easting = 4063707.03 : 597756.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211708.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211707.50,3642.8370,N,-12154.3295,W,1,03,00.5,066.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211709.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211708.50,3642.8361,N,-12154.3293,W,1,03,00.5,066.1,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.45 5.26 16.40 3.78 3.83 0 -9387.00 06:20:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211710.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211709.50,3642.8352,N,-12154.3290,W,1,03,00.5,065.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211711.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211710.50,3642.8343,N,-12154.3286,W,1,03,00.5,066.6,M,-99.9,M,,*45 : TerrainNav update at nav time = 1939.997101 : TerrainNav update at dvl time = 1939.997101 : _navData-> (x,y) = (4063693.66, 597751.82) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.56 17.96 3.72 3.83 0 9171.30 06:20:50 m : AshtechGps::processRecord() - $GPGGA,211712.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211711.50,3642.8335,N,-12154.3282,W,1,03,00.5,066.4,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1940.00 : 5.64 : Estimated East Bias at time = 1940.00 : 5.85 : Estimated Depth Bias at time = 1940.00 : -0.06 : Estimated northing and easting = 4063699.29 : 597757.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211713.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211712.50,3642.8327,N,-12154.3279,W,1,03,00.5,066.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211714.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211713.50,3642.8319,N,-12154.3276,W,1,03,00.5,065.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211715.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211714.50,3642.8311,N,-12154.3273,W,1,03,00.5,066.1,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211716.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211715.50,3642.8303,N,-12154.3272,W,1,03,00.5,065.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 1944.996759 : TerrainNav update at dvl time = 1944.996759 : _navData-> (x,y) = (4063686.20, 597754.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211717.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211716.50,3642.8294,N,-12154.3270,W,1,03,00.5,066.1,M,-99.9,M,,*46 : Estimated North Bias at time = 1945.00 : 5.12 : Estimated East Bias at time = 1945.00 : 6.66 : Estimated Depth Bias at time = 1945.00 : -0.05 : Estimated northing and easting = 4063691.32 : 597760.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211718.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211717.50,3642.8286,N,-12154.3269,W,1,03,00.5,066.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211719.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211718.50,3642.8277,N,-12154.3267,W,1,03,00.5,065.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 4.78 16.50 3.78 3.83 0 -9387.50 06:20:57 m : AshtechGps::processRecord() - $GPGGA,211720.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211719.50,3642.8269,N,-12154.3265,W,1,03,00.5,066.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211721.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211720.50,3642.8261,N,-12154.3262,W,1,03,00.5,066.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 1949.996416 : TerrainNav update at dvl time = 1949.996416 : _navData-> (x,y) = (4063678.39, 597755.55) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.79 17.96 3.72 3.83 0 9170.82 06:21:00 m : AshtechGps::processRecord() - $GPGGA,211722.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211721.50,3642.8252,N,-12154.3260,W,1,03,00.5,065.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1950.00 : 5.18 : Estimated East Bias at time = 1950.00 : 6.24 : Estimated Depth Bias at time = 1950.00 : -0.05 : Estimated northing and easting = 4063683.57 : 597761.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211723.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211722.50,3642.8244,N,-12154.3258,W,1,03,00.5,066.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211724.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211723.50,3642.8235,N,-12154.3256,W,1,03,00.5,065.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211725.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211724.50,3642.8226,N,-12154.3253,W,1,03,00.5,065.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211726.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211725.50,3642.8218,N,-12154.3250,W,1,03,00.5,066.0,M,-99.9,M,,*41 : TerrainNav update at nav time = 1954.996074 : TerrainNav update at dvl time = 1954.996074 : _navData-> (x,y) = (4063670.51, 597757.53) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211727.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211726.50,3642.8210,N,-12154.3246,W,1,03,00.5,066.1,M,-99.9,M,,*4c : Estimated North Bias at time = 1955.00 : 5.42 : Estimated East Bias at time = 1955.00 : 6.13 : Estimated Depth Bias at time = 1955.00 : -0.06 : Estimated northing and easting = 4063675.94 : 597763.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211728.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211727.50,3642.8202,N,-12154.3243,W,1,03,00.5,066.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,211729.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211728.50,3642.8194,N,-12154.3241,W,1,03,00.5,066.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 4.78 16.40 3.78 3.83 0 -9387.85 06:21:07 m : AshtechGps::processRecord() - $GPGGA,211730.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211729.50,3642.8185,N,-12154.3238,W,1,03,00.5,066.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211731.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211730.50,3642.8177,N,-12154.3235,W,1,03,00.5,066.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 1959.995731 : TerrainNav update at dvl time = 1959.995731 : _navData-> (x,y) = (4063662.98, 597759.72) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.44 17.87 3.72 3.83 0 9170.54 06:21:10 m : AshtechGps::processRecord() - $GPGGA,211732.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211731.50,3642.8169,N,-12154.3233,W,1,03,00.5,066.8,M,-99.9,M,,*4c : Estimated North Bias at time = 1960.00 : 5.37 : Estimated East Bias at time = 1960.00 : 6.64 : Estimated Depth Bias at time = 1960.00 : -0.06 : Estimated northing and easting = 4063668.35 : 597766.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211733.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211732.50,3642.8160,N,-12154.3231,W,1,03,00.5,065.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211734.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211733.50,3642.8151,N,-12154.3230,W,1,03,00.5,065.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211735.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211734.50,3642.8143,N,-12154.3228,W,1,03,00.5,065.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,211736.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211735.50,3642.8134,N,-12154.3227,W,1,03,00.5,065.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1964.995389 : TerrainNav update at dvl time = 1964.995389 : _navData-> (x,y) = (4063655.08, 597761.05) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211737.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211736.50,3642.8126,N,-12154.3225,W,1,03,00.5,065.2,M,-99.9,M,,*4e : Estimated North Bias at time = 1965.00 : 5.51 : Estimated East Bias at time = 1965.00 : 7.21 : Estimated Depth Bias at time = 1965.00 : -0.06 : Estimated northing and easting = 4063660.59 : 597768.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211738.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211737.50,3642.8118,N,-12154.3223,W,1,03,00.5,065.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,211739.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211738.50,3642.8110,N,-12154.3220,W,1,03,00.5,066.3,M,-99.9,M,,*42 : BluefinBatt Reply: $aaq0 d- 30.41 5.41 16.40 3.78 3.83 0 -9388.33 06:21:17 m : AshtechGps::processRecord() - $GPGGA,211740.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211739.50,3642.8102,N,-12154.3216,W,1,03,00.5,066.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211741.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211740.50,3642.8093,N,-12154.3212,W,1,03,00.5,066.1,M,-99.9,M,,*44 : TerrainNav update at nav time = 1969.995046 : TerrainNav update at dvl time = 1969.995046 : _navData-> (x,y) = (4063647.54, 597763.37) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.44 17.87 3.72 3.83 0 9170.10 06:21:20 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211742.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211741.50,3642.8085,N,-12154.3209,W,1,03,00.5,066.7,M,-99.9,M,,*4e : Estimated North Bias at time = 1970.00 : 5.41 : Estimated East Bias at time = 1970.00 : 6.16 : Estimated Depth Bias at time = 1970.00 : -0.06 : Estimated northing and easting = 4063652.96 : 597769.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211743.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211742.50,3642.8076,N,-12154.3206,W,1,03,00.5,065.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211744.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211743.50,3642.8067,N,-12154.3203,W,1,03,00.5,066.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211745.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211744.50,3642.8059,N,-12154.3202,W,1,03,00.5,066.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211746.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211745.50,3642.8050,N,-12154.3200,W,1,03,00.5,066.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 1974.994704 : TerrainNav update at dvl time = 1974.994704 : _navData-> (x,y) = (4063639.61, 597765.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211747.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211746.50,3642.8042,N,-12154.3198,W,1,03,00.5,066.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1974.99 : 5.48 : Estimated East Bias at time = 1974.99 : 7.16 : Estimated Depth Bias at time = 1974.99 : -0.06 : Estimated northing and easting = 4063645.08 : 597772.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211748.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211747.51,3642.8034,N,-12154.3196,W,1,03,00.5,066.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211749.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211748.51,3642.8026,N,-12154.3194,W,1,03,00.5,066.1,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.45 5.12 16.40 3.78 3.82 0 -9388.71 06:21:27 m : AshtechGps::processRecord() - $GPGGA,211750.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211749.51,3642.8018,N,-12154.3192,W,1,03,00.5,066.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211751.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211750.51,3642.8009,N,-12154.3191,W,1,03,00.5,066.1,M,-99.9,M,,*4f : TerrainNav update at nav time = 1979.994361 : TerrainNav update at dvl time = 1979.994361 : _navData-> (x,y) = (4063632.07, 597766.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.56 4.29 17.96 3.72 3.83 0 9169.81 06:21:30 m : AshtechGps::processRecord() - $GPGGA,211752.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211751.51,3642.8001,N,-12154.3189,W,1,03,00.5,066.3,M,-99.9,M,,*4d : Estimated North Bias at time = 1979.99 : 5.51 : Estimated East Bias at time = 1979.99 : 7.24 : Estimated Depth Bias at time = 1979.99 : -0.06 : Estimated northing and easting = 4063637.58 : 597773.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211753.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211752.51,3642.7993,N,-12154.3186,W,1,03,00.5,066.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,211754.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211753.51,3642.7984,N,-12154.3183,W,1,03,00.5,066.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211755.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211754.51,3642.7976,N,-12154.3180,W,1,03,00.5,066.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211756.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211755.51,3642.7967,N,-12154.3176,W,1,03,00.5,066.3,M,-99.9,M,,*4f : TerrainNav update at nav time = 1984.994019 : TerrainNav update at dvl time = 1984.994019 : _navData-> (x,y) = (4063624.34, 597769.01) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211757.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211756.51,3642.7959,N,-12154.3173,W,1,03,00.5,066.2,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 1984.99 : 5.58 : Estimated East Bias at time = 1984.99 : 6.40 : Estimated Depth Bias at time = 1984.99 : -0.06 : Estimated northing and easting = 4063629.92 : 597775.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211758.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211757.51,3642.7950,N,-12154.3170,W,1,03,00.5,066.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211759.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211758.51,3642.7942,N,-12154.3168,W,1,03,00.5,066.1,M,-99.9,M,,*48 : BluefinBatt Reply: $aaq0 d- 30.41 5.67 16.40 3.78 3.82 0 -9389.21 06:21:37 m : AshtechGps::processRecord() - $GPGGA,211800.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211759.51,3642.7933,N,-12154.3166,W,1,03,00.5,065.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,211801.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211800.51,3642.7925,N,-12154.3165,W,1,03,00.5,065.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 1989.993676 : TerrainNav update at dvl time = 1989.993676 : _navData-> (x,y) = (4063616.52, 597770.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.41 17.87 3.72 3.83 0 9169.41 06:21:40 m : AshtechGps::processRecord() - $GPGGA,211802.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211801.51,3642.7917,N,-12154.3164,W,1,03,00.5,065.7,M,-99.9,M,,*42 : Estimated North Bias at time = 1989.99 : 5.42 : Estimated East Bias at time = 1989.99 : 7.29 : Estimated Depth Bias at time = 1989.99 : -0.06 : Estimated northing and easting = 4063621.94 : 597778.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211803.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211802.51,3642.7909,N,-12154.3162,W,1,03,00.5,065.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,211804.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211803.51,3642.7901,N,-12154.3160,W,1,03,00.5,066.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211805.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211804.51,3642.7893,N,-12154.3158,W,1,03,00.5,065.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211806.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211805.51,3642.7884,N,-12154.3155,W,1,03,00.5,066.1,M,-99.9,M,,*4a : TerrainNav update at nav time = 1994.993334 : TerrainNav update at dvl time = 1994.993334 : _navData-> (x,y) = (4063609.04, 597772.27) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211807.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211806.51,3642.7876,N,-12154.3152,W,1,03,00.5,066.1,M,-99.9,M,,*43 : Estimated North Bias at time = 1994.99 : 5.43 : Estimated East Bias at time = 1994.99 : 6.67 : Estimated Depth Bias at time = 1994.99 : -0.06 : Estimated northing and easting = 4063614.47 : 597778.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211808.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211807.51,3642.7868,N,-12154.3149,W,1,03,00.5,066.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211809.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211808.51,3642.7859,N,-12154.3146,W,1,03,00.5,066.2,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.41 5.34 16.40 3.78 3.83 0 -9389.55 06:21:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211810.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211809.51,3642.7851,N,-12154.3143,W,1,03,00.5,066.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211811.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211810.51,3642.7842,N,-12154.3141,W,1,03,00.5,065.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2000.002990 : TerrainNav update at dvl time = 2000.002990 : _navData-> (x,y) = (4063601.22, 597774.52) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.33 17.96 3.72 3.83 0 9169.10 06:21:50 m : AshtechGps::processRecord() - $GPGGA,211812.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211811.51,3642.7834,N,-12154.3139,W,1,03,00.5,066.4,M,-99.9,M,,*4b : Estimated North Bias at time = 2000.00 : 5.68 : Estimated East Bias at time = 2000.00 : 6.67 : Estimated Depth Bias at time = 2000.00 : -0.06 : Estimated northing and easting = 4063606.90 : 597781.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211813.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211812.51,3642.7826,N,-12154.3137,W,1,03,00.5,066.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211814.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211813.51,3642.7817,N,-12154.3135,W,1,03,00.5,066.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211815.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211814.51,3642.7809,N,-12154.3133,W,1,03,00.5,066.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211816.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211815.51,3642.7801,N,-12154.3130,W,1,03,00.5,066.7,M,-99.9,M,,*43 : TerrainNav update at nav time = 2005.002648 : TerrainNav update at dvl time = 2005.002648 : _navData-> (x,y) = (4063593.69, 597776.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211817.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211816.51,3642.7793,N,-12154.3128,W,1,03,00.5,065.8,M,-99.9,M,,*41 : Estimated North Bias at time = 2005.00 : 5.57 : Estimated East Bias at time = 2005.00 : 6.53 : Estimated Depth Bias at time = 2005.00 : -0.06 : Estimated northing and easting = 4063599.27 : 597782.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211818.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211817.51,3642.7785,N,-12154.3126,W,1,03,00.5,066.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211819.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211818.51,3642.7777,N,-12154.3125,W,1,03,00.5,065.6,M,-99.9,M,,*46 : BluefinBatt Reply: $aaq0 d- 30.41 5.34 16.40 3.78 3.83 0 -9390.08 06:21:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211820.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211819.51,3642.7768,N,-12154.3122,W,1,03,00.5,065.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,211821.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211820.51,3642.7760,N,-12154.3120,W,1,03,00.5,065.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 2010.002306 : TerrainNav update at dvl time = 2010.002306 : _navData-> (x,y) = (4063586.03, 597777.79) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.18 17.87 3.72 3.83 0 9168.64 06:22:00 m : AshtechGps::processRecord() - $GPGGA,211822.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211821.51,3642.7751,N,-12154.3117,W,1,03,00.5,066.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2010.00 : 5.81 : Estimated East Bias at time = 2010.00 : 6.73 : Estimated Depth Bias at time = 2010.00 : -0.05 : Estimated northing and easting = 4063591.84 : 597784.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211823.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211822.51,3642.7743,N,-12154.3115,W,1,03,00.5,066.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211824.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211823.51,3642.7734,N,-12154.3112,W,1,03,00.5,066.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211825.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211824.51,3642.7726,N,-12154.3110,W,1,03,00.5,065.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211826.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211825.51,3642.7718,N,-12154.3107,W,1,03,00.5,065.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 2015.001963 : TerrainNav update at dvl time = 2015.001963 : _navData-> (x,y) = (4063578.35, 597779.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211827.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211826.51,3642.7710,N,-12154.3104,W,1,03,00.5,065.5,M,-99.9,M,,*4a : Estimated North Bias at time = 2015.00 : 5.68 : Estimated East Bias at time = 2015.00 : 6.75 : Estimated Depth Bias at time = 2015.00 : -0.06 : Estimated northing and easting = 4063584.03 : 597786.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211828.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211827.51,3642.7702,N,-12154.3101,W,1,03,00.5,066.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,211829.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211828.51,3642.7693,N,-12154.3098,W,1,03,00.5,066.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 5.45 16.40 3.78 3.83 0 -9390.42 06:22:07 m : AshtechGps::processRecord() - $GPGGA,211830.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211829.51,3642.7685,N,-12154.3096,W,1,03,00.5,065.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211831.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211830.51,3642.7676,N,-12154.3096,W,1,03,00.5,065.3,M,-99.9,M,,*40 : TerrainNav update at nav time = 2020.001621 : TerrainNav update at dvl time = 2020.001621 : _navData-> (x,y) = (4063570.64, 597781.52) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.07 17.96 3.72 3.83 0 9168.34 06:22:10 m : AshtechGps::processRecord() - $GPGGA,211832.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211831.51,3642.7668,N,-12154.3095,W,1,03,00.5,065.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2020.00 : 6.03 : Estimated East Bias at time = 2020.00 : 7.34 : Estimated Depth Bias at time = 2020.00 : -0.06 : Estimated northing and easting = 4063576.67 : 597788.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211833.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211832.51,3642.7660,N,-12154.3094,W,1,03,00.5,065.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211834.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211833.51,3642.7651,N,-12154.3092,W,1,03,00.5,065.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211835.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211834.51,3642.7643,N,-12154.3089,W,1,03,00.5,065.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,211836.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211835.51,3642.7635,N,-12154.3086,W,1,03,00.5,066.1,M,-99.9,M,,*42 : TerrainNav update at nav time = 2025.001278 : TerrainNav update at dvl time = 2025.001278 : _navData-> (x,y) = (4063563.03, 597783.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211837.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211836.51,3642.7627,N,-12154.3082,W,1,03,00.5,066.8,M,-99.9,M,,*4f : Estimated North Bias at time = 2025.00 : 5.90 : Estimated East Bias at time = 2025.00 : 6.28 : Estimated Depth Bias at time = 2025.00 : -0.06 : Estimated northing and easting = 4063568.93 : 597789.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211838.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211837.51,3642.7618,N,-12154.3077,W,1,03,00.5,065.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211839.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211838.51,3642.7610,N,-12154.3073,W,1,03,00.5,066.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 5.71 16.50 3.78 3.83 0 -9390.94 06:22:17 m : AshtechGps::processRecord() - $GPGGA,211840.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211839.51,3642.7601,N,-12154.3071,W,1,03,00.5,065.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211841.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211840.51,3642.7593,N,-12154.3069,W,1,03,00.5,065.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 2030.000936 : TerrainNav update at dvl time = 2030.000936 : _navData-> (x,y) = (4063555.25, 597785.67) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.37 17.87 3.72 3.83 0 9167.89 06:22:20 m : AshtechGps::processRecord() - $GPGGA,211842.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211841.51,3642.7584,N,-12154.3068,W,1,03,00.5,065.3,M,-99.9,M,,*49 : Estimated North Bias at time = 2030.00 : 6.04 : Estimated East Bias at time = 2030.00 : 7.03 : Estimated Depth Bias at time = 2030.00 : -0.06 : Estimated northing and easting = 4063561.29 : 597792.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211843.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211842.51,3642.7576,N,-12154.3068,W,1,03,00.5,065.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211844.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211843.51,3642.7567,N,-12154.3068,W,1,03,00.5,065.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211845.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211844.51,3642.7559,N,-12154.3066,W,1,03,00.5,065.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,211846.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211845.51,3642.7551,N,-12154.3062,W,1,03,00.5,065.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2035.000593 : TerrainNav update at dvl time = 2035.000593 : _navData-> (x,y) = (4063547.60, 597786.86) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211847.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211846.51,3642.7543,N,-12154.3058,W,1,03,00.5,065.9,M,-99.9,M,,*4c : Estimated North Bias at time = 2035.00 : 5.91 : Estimated East Bias at time = 2035.00 : 6.73 : Estimated Depth Bias at time = 2035.00 : -0.06 : Estimated northing and easting = 4063553.50 : 597793.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211848.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211847.51,3642.7535,N,-12154.3055,W,1,03,00.5,066.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,211849.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211848.51,3642.7527,N,-12154.3052,W,1,03,00.5,066.1,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.41 5.04 16.40 3.78 3.82 0 -9391.29 06:22:27 m : AshtechGps::processRecord() - $GPGGA,211850.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211849.51,3642.7519,N,-12154.3050,W,1,03,00.5,066.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211851.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211850.51,3642.7510,N,-12154.3048,W,1,03,00.5,066.1,M,-99.9,M,,*47 : TerrainNav update at nav time = 2040.000251 : TerrainNav update at dvl time = 2040.000251 : _navData-> (x,y) = (4063539.98, 597789.07) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.86 17.96 3.72 3.83 0 9167.57 06:22:30 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211852.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211851.51,3642.7501,N,-12154.3045,W,1,03,00.5,065.6,M,-99.9,M,,*4f : Estimated North Bias at time = 2040.00 : 6.32 : Estimated East Bias at time = 2040.00 : 7.52 : Estimated Depth Bias at time = 2040.00 : -0.06 : Estimated northing and easting = 4063546.30 : 597796.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211853.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211852.51,3642.7493,N,-12154.3042,W,1,03,00.5,065.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211854.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211853.51,3642.7484,N,-12154.3038,W,1,03,00.5,065.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211855.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211854.51,3642.7475,N,-12154.3036,W,1,03,00.5,065.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211856.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211855.51,3642.7466,N,-12154.3034,W,1,03,00.5,064.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 2044.999908 : TerrainNav update at dvl time = 2044.999908 : _navData-> (x,y) = (4063531.92, 597791.18) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211857.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211856.51,3642.7458,N,-12154.3033,W,1,03,00.5,066.0,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2045.00 : 6.39 : Estimated East Bias at time = 2045.00 : 7.55 : Estimated Depth Bias at time = 2045.00 : -0.06 : Estimated northing and easting = 4063538.31 : 597798.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211858.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211857.51,3642.7451,N,-12154.3032,W,1,03,00.5,065.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211859.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211858.51,3642.7443,N,-12154.3031,W,1,03,00.5,065.0,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.41 5.23 16.40 3.78 3.82 0 -9391.84 06:22:37 m : AshtechGps::processRecord() - $GPGGA,211900.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211859.51,3642.7435,N,-12154.3028,W,1,03,00.5,065.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211901.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211900.51,3642.7427,N,-12154.3025,W,1,03,00.5,065.2,M,-99.9,M,,*4d : TerrainNav update at nav time = 2049.999566 : TerrainNav update at dvl time = 2049.999566 : _navData-> (x,y) = (4063524.62, 597792.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.56 4.33 17.96 3.72 3.83 0 9167.10 06:22:40 m : AshtechGps::processRecord() - $GPGGA,211902.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211901.50,3642.7418,N,-12154.3021,W,1,03,00.5,065.9,M,-99.9,M,,*4e : Estimated North Bias at time = 2050.00 : 6.08 : Estimated East Bias at time = 2050.00 : 7.16 : Estimated Depth Bias at time = 2050.00 : -0.06 : Estimated northing and easting = 4063530.71 : 597799.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211903.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211902.50,3642.7409,N,-12154.3018,W,1,03,00.5,066.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211904.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211903.50,3642.7400,N,-12154.3015,W,1,03,00.5,066.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211905.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211904.50,3642.7391,N,-12154.3013,W,1,03,00.5,066.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211906.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211905.50,3642.7383,N,-12154.3011,W,1,03,00.5,065.6,M,-99.9,M,,*43 : TerrainNav update at nav time = 2054.999223 : TerrainNav update at dvl time = 2054.999223 : _navData-> (x,y) = (4063516.49, 597794.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211907.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211906.50,3642.7374,N,-12154.3009,W,1,03,00.5,065.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2055.00 : 6.39 : Estimated East Bias at time = 2055.00 : 8.04 : Estimated Depth Bias at time = 2055.00 : -0.06 : Estimated northing and easting = 4063522.88 : 597802.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211908.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211907.50,3642.7366,N,-12154.3007,W,1,03,00.5,066.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211909.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211908.50,3642.7357,N,-12154.3004,W,1,03,00.5,065.6,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.41 4.64 16.40 3.78 3.83 0 -9392.16 06:22:47 m : AshtechGps::processRecord() - $GPGGA,211910.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211909.50,3642.7349,N,-12154.3002,W,1,03,00.5,065.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211911.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211910.50,3642.7341,N,-12154.2999,W,1,03,00.5,065.8,M,-99.9,M,,*4f : TerrainNav update at nav time = 2059.998881 : TerrainNav update at dvl time = 2059.998881 : _navData-> (x,y) = (4063508.82, 597796.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.60 4.14 17.87 3.72 3.83 0 9166.80 06:22:50 m : AshtechGps::processRecord() - $GPGGA,211912.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211911.50,3642.7333,N,-12154.2997,W,1,03,00.5,066.0,M,-99.9,M,,*4e : Estimated North Bias at time = 2060.00 : 6.26 : Estimated East Bias at time = 2060.00 : 7.64 : Estimated Depth Bias at time = 2060.00 : -0.06 : Estimated northing and easting = 4063515.08 : 597804.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211913.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211912.50,3642.7325,N,-12154.2994,W,1,03,00.5,065.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211914.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211913.50,3642.7317,N,-12154.2992,W,1,03,00.5,066.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211915.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211914.50,3642.7309,N,-12154.2990,W,1,03,00.5,065.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211916.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211915.50,3642.7300,N,-12154.2988,W,1,03,00.5,065.8,M,-99.9,M,,*4f : TerrainNav update at nav time = 2064.998538 : TerrainNav update at dvl time = 2064.998538 : _navData-> (x,y) = (4063501.23, 597798.29) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211917.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211916.50,3642.7291,N,-12154.2987,W,1,03,00.5,065.2,M,-99.9,M,,*40 : Estimated North Bias at time = 2065.00 : 6.43 : Estimated East Bias at time = 2065.00 : 8.03 : Estimated Depth Bias at time = 2065.00 : -0.06 : Estimated northing and easting = 4063507.66 : 597806.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211918.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211917.50,3642.7282,N,-12154.2984,W,1,03,00.5,065.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211919.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211918.50,3642.7274,N,-12154.2982,W,1,03,00.5,066.0,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.41 5.56 16.40 3.78 3.83 0 -9392.69 06:22:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211920.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211919.50,3642.7265,N,-12154.2978,W,1,03,00.5,065.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,211921.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211920.50,3642.7256,N,-12154.2975,W,1,03,00.5,065.4,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2069.998195 : TerrainNav update at dvl time = 2069.998195 : _navData-> (x,y) = (4063493.16, 597800.43) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 3.95 17.96 3.72 3.83 0 9166.36 06:23:00 m : AshtechGps::processRecord() - $GPGGA,211922.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211921.50,3642.7248,N,-12154.2972,W,1,03,00.5,066.5,M,-99.9,M,,*4e : Estimated North Bias at time = 2070.00 : 6.38 : Estimated East Bias at time = 2070.00 : 7.33 : Estimated Depth Bias at time = 2070.00 : -0.06 : Estimated northing and easting = 4063499.54 : 597807.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211923.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211922.50,3642.7239,N,-12154.2970,W,1,03,00.5,065.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,211924.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211923.50,3642.7231,N,-12154.2967,W,1,03,00.5,065.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,211925.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211924.50,3642.7224,N,-12154.2965,W,1,03,00.5,065.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211926.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211925.50,3642.7215,N,-12154.2963,W,1,03,00.5,066.0,M,-99.9,M,,*47 : TerrainNav update at nav time = 2074.997853 : TerrainNav update at dvl time = 2074.997853 : _navData-> (x,y) = (4063485.66, 597802.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211927.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211926.50,3642.7207,N,-12154.2961,W,1,03,00.5,065.6,M,-99.9,M,,*40 : Estimated North Bias at time = 2075.00 : 5.90 : Estimated East Bias at time = 2075.00 : 7.81 : Estimated Depth Bias at time = 2075.00 : -0.06 : Estimated northing and easting = 4063491.55 : 597810.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211928.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211927.50,3642.7198,N,-12154.2959,W,1,03,00.5,065.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211929.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211928.50,3642.7190,N,-12154.2956,W,1,03,00.5,065.8,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.41 5.04 16.50 3.78 3.83 0 -9393.04 06:23:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211930.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211929.50,3642.7181,N,-12154.2954,W,1,03,00.5,065.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,211931.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211930.50,3642.7173,N,-12154.2952,W,1,03,00.5,065.7,M,-99.9,M,,*46 : TerrainNav update at nav time = 2079.997510 : TerrainNav update at dvl time = 2079.997510 : _navData-> (x,y) = (4063477.80, 597803.98) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.29 17.87 3.72 3.83 0 9166.05 06:23:10 m : AshtechGps::processRecord() - $GPGGA,211932.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211931.50,3642.7165,N,-12154.2950,W,1,03,00.5,066.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2080.00 : 6.07 : Estimated East Bias at time = 2080.00 : 7.80 : Estimated Depth Bias at time = 2080.00 : -0.06 : Estimated northing and easting = 4063483.86 : 597811.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,211933.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211932.50,3642.7156,N,-12154.2949,W,1,03,00.5,065.9,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211934.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211933.50,3642.7148,N,-12154.2946,W,1,03,00.5,065.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,211935.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211934.50,3642.7140,N,-12154.2943,W,1,03,00.5,065.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211936.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211935.50,3642.7131,N,-12154.2939,W,1,03,00.5,066.7,M,-99.9,M,,*4b : TerrainNav update at nav time = 2084.997168 : TerrainNav update at dvl time = 2084.997168 : _navData-> (x,y) = (4063470.05, 597806.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211937.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211936.50,3642.7122,N,-12154.2936,W,1,03,00.5,065.1,M,-99.9,M,,*40 : Estimated North Bias at time = 2085.00 : 6.35 : Estimated East Bias at time = 2085.00 : 7.02 : Estimated Depth Bias at time = 2085.00 : -0.06 : Estimated northing and easting = 4063476.40 : 597813.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,211938.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211937.50,3642.7114,N,-12154.2933,W,1,03,00.5,065.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,211939.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211938.50,3642.7105,N,-12154.2931,W,1,03,00.5,065.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 5.19 16.40 3.78 3.83 0 -9393.58 06:23:17 m : AshtechGps::processRecord() - $GPGGA,211940.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211939.50,3642.7097,N,-12154.2929,W,1,03,00.5,065.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211941.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211940.50,3642.7089,N,-12154.2928,W,1,03,00.5,065.5,M,-99.9,M,,*4a : TerrainNav update at nav time = 2089.996825 : TerrainNav update at dvl time = 2089.996825 : _navData-> (x,y) = (4063462.33, 597807.78) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.18 17.96 3.71 3.83 0 9165.63 06:23:20 m : AshtechGps::processRecord() - $GPGGA,211942.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211941.50,3642.7081,N,-12154.2926,W,1,03,00.5,065.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2090.00 : 6.03 : Estimated East Bias at time = 2090.00 : 8.04 : Estimated Depth Bias at time = 2090.00 : -0.06 : Estimated northing and easting = 4063468.37 : 597815.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : AshtechGps::processRecord() - $GPGGA,211943.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211942.50,3642.7072,N,-12154.2924,W,1,03,00.5,065.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211944.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211943.50,3642.7064,N,-12154.2922,W,1,03,00.5,065.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211945.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211944.50,3642.7055,N,-12154.2919,W,1,03,00.5,065.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,211946.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211945.50,3642.7047,N,-12154.2916,W,1,03,00.5,065.7,M,-99.9,M,,*42 : TerrainNav update at nav time = 2094.996483 : TerrainNav update at dvl time = 2094.996483 : _navData-> (x,y) = (4063454.51, 597809.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211947.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211946.50,3642.7038,N,-12154.2913,W,1,03,00.5,065.3,M,-99.9,M,,*48 : Estimated North Bias at time = 2095.00 : 6.35 : Estimated East Bias at time = 2095.00 : 7.40 : Estimated Depth Bias at time = 2095.00 : -0.06 : Estimated northing and easting = 4063460.87 : 597817.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211948.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211947.50,3642.7030,N,-12154.2911,W,1,03,00.5,065.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,211949.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211948.50,3642.7022,N,-12154.2909,W,1,03,00.5,065.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 4.86 16.40 3.78 3.83 0 -9393.91 06:23:27 m : AshtechGps::processRecord() - $GPGGA,211950.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211949.50,3642.7013,N,-12154.2907,W,1,03,00.5,065.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211951.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211950.50,3642.7005,N,-12154.2906,W,1,03,00.5,065.1,M,-99.9,M,,*47 : TerrainNav update at nav time = 2099.996140 : TerrainNav update at dvl time = 2099.996140 : _navData-> (x,y) = (4063446.78, 597811.17) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.37 17.87 3.71 3.83 0 9165.34 06:23:30 m : AshtechGps::processRecord() - $GPGGA,211952.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211951.50,3642.6996,N,-12154.2904,W,1,03,00.5,064.9,M,-99.9,M,,*4f : Estimated North Bias at time = 2100.00 : 6.23 : Estimated East Bias at time = 2100.00 : 8.01 : Estimated Depth Bias at time = 2100.00 : -0.06 : Estimated northing and easting = 4063453.01 : 597819.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : AshtechGps::processRecord() - $GPGGA,211953.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211952.50,3642.6987,N,-12154.2901,W,1,03,00.5,064.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211954.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211953.50,3642.6979,N,-12154.2896,W,1,03,00.5,065.5,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211955.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211954.50,3642.6970,N,-12154.2892,W,1,03,00.5,066.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,211956.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211955.50,3642.6962,N,-12154.2889,W,1,03,00.5,064.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2104.995798 : TerrainNav update at dvl time = 2104.995798 : _navData-> (x,y) = (4063438.96, 597813.84) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,211957.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211956.50,3642.6954,N,-12154.2887,W,1,03,00.5,064.8,M,-99.9,M,,*4d : Estimated North Bias at time = 2105.00 : 6.12 : Estimated East Bias at time = 2105.00 : 6.66 : Estimated Depth Bias at time = 2105.00 : -0.06 : Estimated northing and easting = 4063445.08 : 597820.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,211958.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211957.50,3642.6946,N,-12154.2887,W,1,03,00.5,065.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,211959.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,211958.50,3642.6937,N,-12154.2887,W,1,03,00.5,065.2,M,-99.9,M,,*4d : BluefinBatt Reply: $aaq0 d- 30.41 5.08 16.40 3.78 3.83 0 -9394.42 06:23:37 m : AshtechGps::processRecord() - $GPGGA,212000.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,211959.50,3642.6929,N,-12154.2886,W,1,03,00.5,065.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212001.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212000.50,3642.6921,N,-12154.2884,W,1,03,00.5,065.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 2109.995456 : TerrainNav update at dvl time = 2109.995456 : _navData-> (x,y) = (4063431.31, 597814.61) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.25 17.87 3.72 3.83 0 9164.87 06:23:40 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212002.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212001.50,3642.6912,N,-12154.2881,W,1,03,00.5,065.6,M,-99.9,M,,*4e : Estimated North Bias at time = 2110.00 : 6.20 : Estimated East Bias at time = 2110.00 : 7.13 : Estimated Depth Bias at time = 2110.00 : -0.06 : Estimated northing and easting = 4063437.51 : 597821.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212003.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212002.50,3642.6904,N,-12154.2878,W,1,03,00.5,066.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212004.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212003.50,3642.6895,N,-12154.2874,W,1,03,00.5,066.7,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212005.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212004.50,3642.6886,N,-12154.2870,W,1,03,00.5,065.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212006.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212005.50,3642.6877,N,-12154.2867,W,1,03,00.5,065.9,M,-99.9,M,,*4f : TerrainNav update at nav time = 2114.995113 : TerrainNav update at dvl time = 2114.995113 : _navData-> (x,y) = (4063423.31, 597817.30) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212007.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212006.50,3642.6869,N,-12154.2864,W,1,03,00.5,065.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2115.00 : 6.48 : Estimated East Bias at time = 2115.00 : 6.37 : Estimated Depth Bias at time = 2115.00 : -0.06 : Estimated northing and easting = 4063429.79 : 597823.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212008.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212007.50,3642.6861,N,-12154.2862,W,1,03,00.5,065.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212009.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212008.50,3642.6853,N,-12154.2861,W,1,03,00.5,065.5,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.41 5.08 16.40 3.78 3.83 0 -9394.76 06:23:47 m : AshtechGps::processRecord() - $GPGGA,212010.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212009.50,3642.6845,N,-12154.2859,W,1,03,00.5,065.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212011.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212010.50,3642.6837,N,-12154.2858,W,1,03,00.5,065.0,M,-99.9,M,,*4a : TerrainNav update at nav time = 2119.994771 : TerrainNav update at dvl time = 2119.994771 : _navData-> (x,y) = (4063415.80, 597818.60) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.56 4.41 17.87 3.72 3.83 0 9164.57 06:23:50 m : AshtechGps::processRecord() - $GPGGA,212012.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212011.50,3642.6828,N,-12154.2857,W,1,03,00.5,065.3,M,-99.9,M,,*49 : Estimated North Bias at time = 2119.99 : 6.07 : Estimated East Bias at time = 2119.99 : 7.23 : Estimated Depth Bias at time = 2119.99 : -0.06 : Estimated northing and easting = 4063421.87 : 597825.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212013.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212012.50,3642.6820,N,-12154.2855,W,1,03,00.5,065.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212014.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212013.51,3642.6811,N,-12154.2852,W,1,03,00.5,065.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212015.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212014.51,3642.6803,N,-12154.2848,W,1,03,00.5,066.0,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212016.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212015.51,3642.6794,N,-12154.2844,W,1,03,00.5,066.0,M,-99.9,M,,*46 : TerrainNav update at nav time = 2124.994428 : TerrainNav update at dvl time = 2124.994428 : _navData-> (x,y) = (4063407.95, 597820.94) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212017.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212016.51,3642.6785,N,-12154.2840,W,1,03,00.5,065.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2124.99 : 6.19 : Estimated East Bias at time = 2124.99 : 5.79 : Estimated Depth Bias at time = 2124.99 : -0.06 : Estimated northing and easting = 4063414.14 : 597826.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212018.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212017.51,3642.6777,N,-12154.2838,W,1,03,00.5,064.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212019.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212018.51,3642.6768,N,-12154.2836,W,1,03,00.5,065.4,M,-99.9,M,,*4a : BluefinBatt Reply: $aaq0 d- 30.41 5.38 16.40 3.78 3.83 0 -9395.28 06:23:57 m : AshtechGps::processRecord() - $GPGGA,212020.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212019.51,3642.6760,N,-12154.2835,W,1,03,00.5,065.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212021.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212020.51,3642.6752,N,-12154.2834,W,1,03,00.5,065.5,M,-99.9,M,,*4b : TerrainNav update at nav time = 2129.994086 : TerrainNav update at dvl time = 2129.994086 : _navData-> (x,y) = (4063400.30, 597822.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.60 17.96 3.72 3.83 0 9164.10 06:24:00 m : AshtechGps::processRecord() - $GPGGA,212022.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212021.51,3642.6744,N,-12154.2832,W,1,03,00.5,065.2,M,-99.9,M,,*4c : Estimated North Bias at time = 2129.99 : 5.90 : Estimated East Bias at time = 2129.99 : 7.20 : Estimated Depth Bias at time = 2129.99 : -0.06 : Estimated northing and easting = 4063406.20 : 597829.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212023.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212022.51,3642.6736,N,-12154.2830,W,1,03,00.5,065.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212024.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212023.51,3642.6728,N,-12154.2827,W,1,03,00.5,065.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212025.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212024.51,3642.6719,N,-12154.2824,W,1,03,00.5,065.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212026.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212025.51,3642.6710,N,-12154.2820,W,1,03,00.5,065.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 2134.993743 : TerrainNav update at dvl time = 2134.993743 : _navData-> (x,y) = (4063392.41, 597824.69) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212027.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212026.51,3642.6701,N,-12154.2816,W,1,03,00.5,066.0,M,-99.9,M,,*4d : Estimated North Bias at time = 2134.99 : 6.38 : Estimated East Bias at time = 2134.99 : 6.23 : Estimated Depth Bias at time = 2134.99 : -0.06 : Estimated northing and easting = 4063398.79 : 597830.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212028.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212027.51,3642.6693,N,-12154.2814,W,1,03,00.5,066.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212029.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212028.51,3642.6684,N,-12154.2812,W,1,03,00.5,064.9,M,-99.9,M,,*40 : BluefinBatt Reply: $aaq0 d- 30.41 5.01 16.40 3.78 3.82 0 -9395.64 06:24:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212030.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212029.51,3642.6676,N,-12154.2811,W,1,03,00.5,064.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212031.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212030.51,3642.6668,N,-12154.2810,W,1,03,00.5,065.1,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2139.993401 : TerrainNav update at dvl time = 2139.993401 : _navData-> (x,y) = (4063384.77, 597826.20) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.48 17.96 3.72 3.83 0 9163.80 06:24:10 m : AshtechGps::processRecord() - $GPGGA,212032.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212031.51,3642.6660,N,-12154.2809,W,1,03,00.5,064.9,M,-99.9,M,,*48 : Estimated North Bias at time = 2139.99 : 5.90 : Estimated East Bias at time = 2139.99 : 7.47 : Estimated Depth Bias at time = 2139.99 : -0.06 : Estimated northing and easting = 4063390.67 : 597833.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212033.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212032.51,3642.6651,N,-12154.2807,W,1,03,00.5,065.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212034.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212033.51,3642.6643,N,-12154.2804,W,1,03,00.5,065.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212035.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212034.51,3642.6634,N,-12154.2800,W,1,03,00.5,065.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212036.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212035.51,3642.6626,N,-12154.2796,W,1,03,00.5,065.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 2144.993058 : TerrainNav update at dvl time = 2144.993058 : _navData-> (x,y) = (4063376.95, 597828.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212037.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212036.51,3642.6617,N,-12154.2793,W,1,03,00.5,066.1,M,-99.9,M,,*49 : Estimated North Bias at time = 2144.99 : 6.11 : Estimated East Bias at time = 2144.99 : 6.11 : Estimated Depth Bias at time = 2144.99 : -0.06 : Estimated northing and easting = 4063383.06 : 597834.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212038.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212037.51,3642.6609,N,-12154.2790,W,1,03,00.5,065.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212039.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212038.51,3642.6600,N,-12154.2788,W,1,03,00.5,065.8,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.41 4.78 16.40 3.78 3.82 0 -9396.18 06:24:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212040.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212039.51,3642.6592,N,-12154.2786,W,1,03,00.5,065.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212041.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212040.51,3642.6583,N,-12154.2784,W,1,03,00.5,065.6,M,-99.9,M,,*44 : TerrainNav update at nav time = 2150.002715 : TerrainNav update at dvl time = 2150.002715 : _navData-> (x,y) = (4063369.04, 597830.23) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 5.28 17.96 3.72 3.83 0 9163.34 06:24:20 m : AshtechGps::processRecord() - $GPGGA,212042.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212041.51,3642.6575,N,-12154.2782,W,1,03,00.5,065.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2150.00 : 6.38 : Estimated East Bias at time = 2150.00 : 7.02 : Estimated Depth Bias at time = 2150.00 : -0.06 : Estimated northing and easting = 4063375.41 : 597837.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212043.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212042.51,3642.6566,N,-12154.2779,W,1,03,00.5,065.3,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212044.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212043.51,3642.6558,N,-12154.2776,W,1,03,00.5,065.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212045.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212044.51,3642.6549,N,-12154.2773,W,1,03,00.5,065.4,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212046.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212045.51,3642.6541,N,-12154.2770,W,1,03,00.5,065.4,M,-99.9,M,,*46 : TerrainNav update at nav time = 2155.002372 : TerrainNav update at dvl time = 2155.002372 : _navData-> (x,y) = (4063361.24, 597832.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212047.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212046.51,3642.6532,N,-12154.2768,W,1,03,00.5,065.2,M,-99.9,M,,*4e : Estimated North Bias at time = 2155.00 : 6.37 : Estimated East Bias at time = 2155.00 : 6.53 : Estimated Depth Bias at time = 2155.00 : -0.06 : Estimated northing and easting = 4063367.61 : 597838.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212048.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212047.51,3642.6524,N,-12154.2766,W,1,03,00.5,065.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212049.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212048.51,3642.6516,N,-12154.2764,W,1,03,00.5,065.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 5.12 16.40 3.78 3.82 0 -9396.51 06:24:27 m : AshtechGps::processRecord() - $GPGGA,212050.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212049.51,3642.6508,N,-12154.2761,W,1,03,00.5,065.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212051.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212050.51,3642.6499,N,-12154.2759,W,1,03,00.5,065.3,M,-99.9,M,,*4a : TerrainNav update at nav time = 2160.002030 : TerrainNav update at dvl time = 2160.002030 : _navData-> (x,y) = (4063353.60, 597834.08) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.41 17.87 3.72 3.83 0 9163.03 06:24:30 m : AshtechGps::processRecord() - $GPGGA,212052.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212051.51,3642.6491,N,-12154.2757,W,1,03,00.5,065.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2160.00 : 6.12 : Estimated East Bias at time = 2160.00 : 6.61 : Estimated Depth Bias at time = 2160.00 : -0.06 : Estimated northing and easting = 4063359.72 : 597840.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212053.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212052.51,3642.6482,N,-12154.2755,W,1,03,00.5,065.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212054.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212053.51,3642.6473,N,-12154.2752,W,1,03,00.5,065.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212055.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212054.51,3642.6464,N,-12154.2748,W,1,03,00.5,065.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212056.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212055.51,3642.6455,N,-12154.2744,W,1,03,00.5,065.9,M,-99.9,M,,*49 : TerrainNav update at nav time = 2165.001687 : TerrainNav update at dvl time = 2165.001687 : _navData-> (x,y) = (4063345.50, 597836.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212057.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212056.51,3642.6447,N,-12154.2741,W,1,03,00.5,065.5,M,-99.9,M,,*40 : Estimated North Bias at time = 2165.00 : 6.36 : Estimated East Bias at time = 2165.00 : 5.73 : Estimated Depth Bias at time = 2165.00 : -0.06 : Estimated northing and easting = 4063351.85 : 597842.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212058.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212057.51,3642.6439,N,-12154.2739,W,1,03,00.5,064.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212059.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212058.51,3642.6430,N,-12154.2738,W,1,03,00.5,065.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.41 16.50 3.78 3.82 0 -9397.03 06:24:37 m : AshtechGps::processRecord() - $GPGGA,212100.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212059.51,3642.6422,N,-12154.2736,W,1,03,00.5,065.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212101.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212100.51,3642.6414,N,-12154.2735,W,1,03,00.5,065.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 2170.001345 : TerrainNav update at dvl time = 2170.001345 : _navData-> (x,y) = (4063337.79, 597837.94) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.07 17.87 3.72 3.83 0 9162.57 06:24:40 m : AshtechGps::processRecord() - $GPGGA,212102.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212101.51,3642.6405,N,-12154.2733,W,1,03,00.5,065.0,M,-99.9,M,,*45 : Estimated North Bias at time = 2170.00 : 6.26 : Estimated East Bias at time = 2170.00 : 6.87 : Estimated Depth Bias at time = 2170.00 : -0.06 : Estimated northing and easting = 4063344.05 : 597844.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212103.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212102.51,3642.6397,N,-12154.2731,W,1,03,00.5,065.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212104.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212103.51,3642.6388,N,-12154.2728,W,1,03,00.5,065.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212105.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212104.51,3642.6380,N,-12154.2725,W,1,03,00.5,065.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212106.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212105.51,3642.6371,N,-12154.2721,W,1,03,00.5,065.2,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2175.001002 : TerrainNav update at dvl time = 2175.001002 : _navData-> (x,y) = (4063330.01, 597840.06) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212107.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212106.51,3642.6363,N,-12154.2718,W,1,03,00.5,065.3,M,-99.9,M,,*4f : Estimated North Bias at time = 2175.00 : 6.35 : Estimated East Bias at time = 2175.00 : 6.00 : Estimated Depth Bias at time = 2175.00 : -0.06 : Estimated northing and easting = 4063336.36 : 597846.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212108.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212107.51,3642.6354,N,-12154.2715,W,1,03,00.5,065.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212109.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212108.51,3642.6345,N,-12154.2712,W,1,03,00.5,065.5,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.37 5.49 16.40 3.78 3.82 0 -9397.37 06:24:47 m : AshtechGps::processRecord() - $GPGGA,212110.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212109.51,3642.6336,N,-12154.2710,W,1,03,00.5,065.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212111.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212110.51,3642.6328,N,-12154.2708,W,1,03,00.5,064.9,M,-99.9,M,,*4d : TerrainNav update at nav time = 2180.000660 : TerrainNav update at dvl time = 2180.000660 : _navData-> (x,y) = (4063322.01, 597842.05) : _tercom->outstandingMeas() = 0 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 2224.197632) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2224.197632) Behavior ascend:-1 has changed to state Active : BluefinBatt Reply: $b3q0 d- 30.52 4.25 17.87 3.72 3.83 0 9162.27 06:24:50 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212112.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212111.51,3642.6320,N,-12154.2707,W,1,03,00.5,064.8,M,-99.9,M,,*4a : Estimated North Bias at time = 2180.00 : 6.20 : Estimated East Bias at time = 2180.00 : 6.61 : Estimated Depth Bias at time = 2180.00 : -0.06 : Estimated northing and easting = 4063328.21 : 597848.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212113.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212112.51,3642.6312,N,-12154.2705,W,1,03,00.5,065.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212114.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212113.51,3642.6304,N,-12154.2704,W,1,03,00.5,065.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212115.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212114.51,3642.6295,N,-12154.2701,W,1,03,00.5,064.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212116.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212115.51,3642.6286,N,-12154.2698,W,1,03,00.5,065.3,M,-99.9,M,,*4e : TerrainNav update at nav time = 2185.000317 : TerrainNav update at dvl time = 2185.000317 : _navData-> (x,y) = (4063314.32, 597843.66) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212117.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212116.51,3642.6278,N,-12154.2695,W,1,03,00.5,065.4,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2185.00 : 6.45 : Estimated East Bias at time = 2185.00 : 6.15 : Estimated Depth Bias at time = 2185.00 : -0.06 : Estimated northing and easting = 4063320.77 : 597849.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212118.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212117.51,3642.6269,N,-12154.2691,W,1,03,00.5,066.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212119.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212118.51,3642.6260,N,-12154.2688,W,1,03,00.5,065.1,M,-99.9,M,,*48 : BluefinBatt Reply: $aaq0 d- 30.41 5.16 16.40 3.78 3.82 0 -9397.88 06:24:57 m : AshtechGps::processRecord() - $GPGGA,212120.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212119.51,3642.6252,N,-12154.2684,W,1,03,00.5,065.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212121.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212120.51,3642.6243,N,-12154.2682,W,1,03,00.5,066.2,M,-99.9,M,,*48 : TerrainNav update at nav time = 2189.999975 : TerrainNav update at dvl time = 2189.999975 : _navData-> (x,y) = (4063306.40, 597846.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.52 17.87 3.72 3.83 0 9161.83 06:25:00 m : AshtechGps::processRecord() - $GPGGA,212122.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212121.51,3642.6235,N,-12154.2681,W,1,03,00.5,065.4,M,-99.9,M,,*4e : Estimated North Bias at time = 2190.00 : 6.27 : Estimated East Bias at time = 2190.00 : 6.25 : Estimated Depth Bias at time = 2190.00 : -0.06 : Estimated northing and easting = 4063312.68 : 597852.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212123.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212122.51,3642.6227,N,-12154.2682,W,1,03,00.5,066.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212124.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212123.51,3642.6219,N,-12154.2681,W,1,03,00.5,066.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212125.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212124.51,3642.6210,N,-12154.2680,W,1,03,00.5,067.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212126.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212125.51,3642.6201,N,-12154.2677,W,1,03,00.5,067.9,M,-99.9,M,,*4b : TerrainNav update at nav time = 2194.999632 : TerrainNav update at dvl time = 2194.999632 : _navData-> (x,y) = (4063298.61, 597847.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212127.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212126.51,3642.6192,N,-12154.2672,W,1,03,00.5,068.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2195.00 : 6.58 : Estimated East Bias at time = 2195.00 : 5.88 : Estimated Depth Bias at time = 2195.00 : -0.06 : Estimated northing and easting = 4063305.19 : 597852.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212128.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212127.50,3642.6184,N,-12154.2665,W,1,03,00.5,067.8,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212129.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212128.50,3642.6175,N,-12154.2659,W,1,03,00.5,067.9,M,-99.9,M,,*4b : BluefinBatt Reply: $aaq0 d- 30.41 4.97 16.40 3.78 3.82 0 -9398.22 06:25:07 m : AshtechGps::processRecord() - $GPGGA,212130.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212129.50,3642.6166,N,-12154.2656,W,1,03,00.5,067.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212131.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212130.50,3642.6157,N,-12154.2654,W,1,03,00.5,067.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 2199.999290 : TerrainNav update at dvl time = 2199.999290 : _navData-> (x,y) = (4063290.50, 597850.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.56 4.33 17.87 3.72 3.83 0 9161.50 06:25:10 m : AshtechGps::processRecord() - $GPGGA,212132.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212131.50,3642.6148,N,-12154.2654,W,1,03,00.5,066.7,M,-99.9,M,,*4f : Estimated North Bias at time = 2200.00 : 6.60 : Estimated East Bias at time = 2200.00 : 5.86 : Estimated Depth Bias at time = 2200.00 : -0.06 : Estimated northing and easting = 4063297.10 : 597856.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212133.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212132.50,3642.6139,N,-12154.2654,W,1,03,00.5,067.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212134.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212133.50,3642.6131,N,-12154.2654,W,1,03,00.5,067.6,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212135.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212134.50,3642.6123,N,-12154.2652,W,1,03,00.5,068.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212136.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212135.50,3642.6115,N,-12154.2649,W,1,03,00.5,069.4,M,-99.9,M,,*43 : TerrainNav update at nav time = 2204.998947 : TerrainNav update at dvl time = 2204.998947 : _navData-> (x,y) = (4063282.71, 597851.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212137.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212136.50,3642.6107,N,-12154.2645,W,1,03,00.5,069.0,M,-99.9,M,,*4b : Estimated North Bias at time = 2205.00 : 5.96 : Estimated East Bias at time = 2205.00 : 5.15 : Estimated Depth Bias at time = 2205.00 : -0.06 : Estimated northing and easting = 4063288.67 : 597856.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212138.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212137.50,3642.6098,N,-12154.2641,W,1,03,00.5,068.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212139.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212138.50,3642.6090,N,-12154.2638,W,1,03,00.5,069.5,M,-99.9,M,,*45 : BluefinBatt Reply: $aaq0 d- 30.41 4.86 16.40 3.78 3.82 0 -9398.76 06:25:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212140.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212139.50,3642.6081,N,-12154.2634,W,1,03,00.5,070.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212141.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212140.50,3642.6072,N,-12154.2631,W,1,03,00.5,068.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2209.998605 : TerrainNav update at dvl time = 2209.998605 : _navData-> (x,y) = (4063274.80, 597854.13) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.48 17.96 3.72 3.83 0 9161.04 06:25:20 m : AshtechGps::processRecord() - $GPGGA,212142.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212141.50,3642.6063,N,-12154.2628,W,1,03,00.5,069.8,M,-99.9,M,,*4b : Estimated North Bias at time = 2210.00 : 6.42 : Estimated East Bias at time = 2210.00 : 5.30 : Estimated Depth Bias at time = 2210.00 : -0.06 : Estimated northing and easting = 4063281.22 : 597859.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212143.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212142.50,3642.6053,N,-12154.2625,W,1,03,00.5,070.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212144.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212143.50,3642.6044,N,-12154.2622,W,1,03,00.5,069.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212145.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212144.50,3642.6035,N,-12154.2619,W,1,03,00.5,069.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212146.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212145.50,3642.6026,N,-12154.2618,W,1,03,00.5,070.3,M,-99.9,M,,*4e : TerrainNav update at nav time = 2214.998262 : TerrainNav update at dvl time = 2214.998262 : _navData-> (x,y) = (4063266.39, 597856.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212147.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212146.50,3642.6018,N,-12154.2616,W,1,03,00.5,070.4,M,-99.9,M,,*49 : Estimated North Bias at time = 2215.00 : 6.08 : Estimated East Bias at time = 2215.00 : 5.70 : Estimated Depth Bias at time = 2215.00 : -0.06 : Estimated northing and easting = 4063272.47 : 597861.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212148.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212147.50,3642.6010,N,-12154.2613,W,1,03,00.5,070.2,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212149.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212148.50,3642.6002,N,-12154.2611,W,1,03,00.5,070.5,M,-99.9,M,,*4a : BluefinBatt Reply: $aaq0 d- 30.37 5.38 16.40 3.78 3.83 0 -9399.09 06:25:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212150.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212149.50,3642.5994,N,-12154.2609,W,1,03,00.5,071.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212151.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212150.50,3642.5986,N,-12154.2606,W,1,03,00.5,070.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 2219.997920 : TerrainNav update at dvl time = 2219.997920 : _navData-> (x,y) = (4063258.87, 597858.02) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 5.09 17.96 3.72 3.83 0 9160.73 06:25:30 m : AshtechGps::processRecord() - $GPGGA,212152.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212151.50,3642.5977,N,-12154.2603,W,1,03,00.5,071.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : Estimated North Bias at time = 2220.00 : 6.09 : Estimated East Bias at time = 2220.00 : 5.30 : Estimated Depth Bias at time = 2220.00 : -0.06 : Estimated northing and easting = 4063264.96 : 597863.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212153.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212152.50,3642.5968,N,-12154.2598,W,1,03,00.5,072.0,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.14 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212154.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212153.50,3642.5958,N,-12154.2592,W,1,03,00.5,072.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212155.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212154.50,3642.5949,N,-12154.2586,W,1,03,00.5,071.7,M,-99.9,M,,*4c : LayeredControl::execute() -- (t = 2267.794646) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2267.794646) Behavior getgps:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212156.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212155.50,3642.5939,N,-12154.2583,W,1,03,00.5,071.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 2224.997577 : TerrainNav update at dvl time = 2224.997577 : _navData-> (x,y) = (4063250.29, 597861.53) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212157.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212156.50,3642.5929,N,-12154.2583,W,1,03,00.5,071.3,M,-99.9,M,,*49 : Estimated North Bias at time = 2225.00 : 6.43 : Estimated East Bias at time = 2225.00 : 4.46 : Estimated Depth Bias at time = 2225.00 : -0.06 : Estimated northing and easting = 4063256.72 : 597865.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212158.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212157.50,3642.5920,N,-12154.2583,W,1,03,00.5,071.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212159.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212158.50,3642.5912,N,-12154.2582,W,1,03,00.5,071.9,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 2.52 16.40 3.78 3.83 0 -9399.50 06:25:37 m : AshtechGps::processRecord() - $GPGGA,212200.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212159.50,3642.5906,N,-12154.2578,W,1,03,00.5,073.2,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212201.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212200.50,3642.5900,N,-12154.2570,W,1,03,00.5,074.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 2229.997235 : TerrainNav update at dvl time = 2229.997235 : _navData-> (x,y) = (4063243.20, 597863.73) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 1.14 17.96 3.74 3.85 0 9160.44 06:25:40 m : AshtechGps::processRecord() - $GPGGA,212202.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212201.50,3642.5893,N,-12154.2559,W,1,03,00.5,073.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 2230.00 : 4.56 : Estimated East Bias at time = 2230.00 : 2.60 : Estimated Depth Bias at time = 2230.00 : -0.06 : Estimated northing and easting = 4063247.76 : 597866.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,212203.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212202.50,3642.5887,N,-12154.2549,W,1,03,00.5,073.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212204.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212203.50,3642.5881,N,-12154.2543,W,1,03,00.5,072.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212205.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212204.50,3642.5876,N,-12154.2539,W,1,03,00.5,073.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212206.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212205.50,3642.5872,N,-12154.2537,W,1,03,00.5,072.4,M,-99.9,M,,*48 : TerrainNav update at nav time = 2234.996892 : TerrainNav update at dvl time = 2234.996892 : _navData-> (x,y) = (4063238.22, 597868.53) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212207.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212206.50,3642.5869,N,-12154.2535,W,1,03,00.5,071.9,M,-99.9,M,,*4d : Estimated North Bias at time = 2235.00 : 3.94 : Estimated East Bias at time = 2235.00 : 5.62 : Estimated Depth Bias at time = 2235.00 : -0.06 : Estimated northing and easting = 4063242.16 : 597874.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212208.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212207.50,3642.5866,N,-12154.2530,W,1,03,00.5,073.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212209.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212208.50,3642.5863,N,-12154.2524,W,1,03,00.5,072.2,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 2.03 16.40 3.80 3.84 0 -9399.64 06:25:47 m : AshtechGps::processRecord() - $GPGGA,212210.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212209.50,3642.5861,N,-12154.2518,W,1,03,00.5,072.2,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,212211.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212210.50,3642.5858,N,-12154.2512,W,1,03,00.5,073.0,M,-99.9,M,,*46 : TerrainNav update at nav time = 2239.996550 : TerrainNav update at dvl time = 2239.996550 : _navData-> (x,y) = (4063235.53, 597872.45) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.78 0.53 17.87 3.74 3.85 0 9160.39 06:25:50 m : AshtechGps::processRecord() - $GPGGA,212212.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212211.50,3642.5854,N,-12154.2504,W,1,03,00.5,072.8,M,-99.9,M,,*45 : Estimated North Bias at time = 2240.00 : 3.70 : Estimated East Bias at time = 2240.00 : 3.55 : Estimated Depth Bias at time = 2240.00 : -0.06 : Estimated northing and easting = 4063239.23 : 597876.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,212213.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212212.50,3642.5851,N,-12154.2496,W,1,03,00.5,072.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212214.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212213.50,3642.5850,N,-12154.2489,W,1,03,00.5,072.6,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212215.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212214.50,3642.5849,N,-12154.2482,W,1,03,00.5,073.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212216.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212215.50,3642.5849,N,-12154.2476,W,1,03,00.5,071.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2244.996207 : TerrainNav update at dvl time = 2244.996207 : _navData-> (x,y) = (4063234.11, 597877.71) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212217.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212216.50,3642.5848,N,-12154.2472,W,1,03,00.5,072.8,M,-99.9,M,,*4f : Estimated North Bias at time = 2245.00 : 1.53 : Estimated East Bias at time = 2245.00 : 4.43 : Estimated Depth Bias at time = 2245.00 : -0.06 : Estimated northing and easting = 4063235.64 : 597882.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212218.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212217.50,3642.5847,N,-12154.2470,W,1,03,00.5,071.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212219.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212218.50,3642.5846,N,-12154.2468,W,1,03,00.5,072.1,M,-99.9,M,,*4d : BluefinBatt Reply: $aaq0 d- 30.64 1.18 16.40 3.80 3.84 0 -9399.82 06:25:57 m : AshtechGps::processRecord() - $GPGGA,212220.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212219.50,3642.5845,N,-12154.2465,W,1,03,00.5,072.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212221.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212220.50,3642.5844,N,-12154.2461,W,1,03,00.5,072.6,M,-99.9,M,,*4a : TerrainNav update at nav time = 2249.995865 : TerrainNav update at dvl time = 2249.995865 : _navData-> (x,y) = (4063233.15, 597879.95) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.71 1.17 17.87 3.75 3.85 0 9160.28 06:26:00 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212222.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212221.50,3642.5843,N,-12154.2456,W,1,03,00.5,073.9,M,-99.9,M,,*46 : Estimated North Bias at time = 2250.00 : 2.68 : Estimated East Bias at time = 2250.00 : 5.55 : Estimated Depth Bias at time = 2250.00 : -0.06 : Estimated northing and easting = 4063235.83 : 597885.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,212223.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212222.50,3642.5843,N,-12154.2450,W,1,03,00.5,074.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212224.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212223.50,3642.5842,N,-12154.2444,W,1,03,00.5,072.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212225.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212224.50,3642.5841,N,-12154.2439,W,1,03,00.5,073.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212226.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212225.50,3642.5841,N,-12154.2435,W,1,03,00.5,074.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 2254.995522 : TerrainNav update at dvl time = 2254.995522 : _navData-> (x,y) = (4063232.71, 597883.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212227.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212226.50,3642.5841,N,-12154.2432,W,1,03,00.5,072.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 2255.00 : 2.37 : Estimated East Bias at time = 2255.00 : 4.54 : Estimated Depth Bias at time = 2255.00 : -0.06 : Estimated northing and easting = 4063235.09 : 597888.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212228.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212227.50,3642.5840,N,-12154.2430,W,1,03,00.5,074.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212229.00,3642.58536,N,12154.21969,W,1,08,1.2,-3.47,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : NMEA Update: $GPGGA,212228.50,3642.5840,N,-12154.2426,W,1,03,00.5,076.3,M,-99.9,M,,*44 : BluefinBatt Reply: $aaq0 d- 30.60 1.14 16.40 3.81 3.85 0 -9399.90 06:26:07 m : AshtechGps::processRecord() - $GPGGA,212230.00,3642.58510,N,12154.21909,W,1,10,0.9,-6.65,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,212229.50,3642.5854,N,-12154.2196,W,1,03,00.5,076.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212231.00,3642.58483,N,12154.21876,W,1,10,0.9,-6.11,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : NMEA Update: $GPGGA,212230.50,3642.5851,N,-12154.2190,W,1,03,00.5,074.3,M,-99.9,M,,*47 : TerrainNav update at nav time = 2259.995180 : TerrainNav update at dvl time = 2259.995180 : _navData-> (x,y) = (4063234.50, 597920.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 2260.00 : 2.37 : Estimated East Bias at time = 2260.00 : 4.53 : Estimated Depth Bias at time = 2260.00 : -0.06 : Estimated northing and easting = 4063236.88 : 597925.18 : BluefinBatt Reply: $b3q0 d- 30.75 0.83 17.77 3.75 3.85 0 9160.23 06:26:10 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212232.00,3642.58484,N,12154.21902,W,1,11,0.8,-5.33,M,-32.59,M,,*71 : NMEA Update: $GPGGA,212231.50,3642.5848,N,-12154.2187,W,1,03,00.5,074.0,M,-99.9,M,,*4b : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.780000 : AshtechGps::processRecord() - $GPGGA,212233.00,3642.58492,N,12154.21817,W,1,10,0.9,-4.97,M,-32.59,M,,*7D : 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,212232.50,3642.5848,N,-12154.2190,W,1,03,00.5,072.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212234.00,3642.58514,N,12154.21905,W,1,11,0.8,-7.05,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,212233.50,3642.5849,N,-12154.2181,W,1,03,00.5,073.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212235.00,3642.58532,N,12154.21866,W,1,11,0.8,-5.63,M,-32.59,M,,*7C : NMEA Update: $GPGGA,212234.50,3642.5851,N,-12154.2191,W,1,03,00.5,072.1,M,-99.9,M,,*46 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,212236.00,3642.58534,N,12154.21828,W,1,11,0.8,-4.77,M,-32.59,M,,*77 : NMEA Update: $GPGGA,212235.50,3642.5853,N,-12154.2186,W,1,03,00.5,074.9,M,-99.9,M,,*4d : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : TerrainNav update at nav time = 2264.994837 : TerrainNav update at dvl time = 2264.994837 : _navData-> (x,y) = (4063235.51, 597921.26) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2264.99 : 2.40 : Estimated East Bias at time = 2264.99 : 4.53 : Estimated Depth Bias at time = 2264.99 : -0.06 : Estimated northing and easting = 4063237.91 : 597925.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212237.00,3642.58509,N,12154.21747,W,1,12,0.8,-3.42,M,-32.59,M,,*7C : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,212236.50,3642.5853,N,-12154.2182,W,1,03,00.5,073.9,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,212238.00,3642.58520,N,12154.21686,W,1,12,0.8,-3.53,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 2310.591714) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2310.591714) Behavior descend:-1 has changed to state Active : NMEA Update: $GPGGA,212237.50,3642.5851,N,-12154.2173,W,1,03,00.5,075.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212239.00,3642.58513,N,12154.21633,W,1,12,0.8,-3.44,M,-32.59,M,,*7D : NMEA Update: $GPGGA,212238.50,3642.5852,N,-12154.2167,W,1,03,00.5,072.8,M,-99.9,M,,*49 : BluefinBatt Reply: $aaq0 d- 30.57 2.18 16.40 3.81 3.85 0 -9400.11 06:26:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212240.00,3642.58514,N,12154.21577,W,1,12,0.8,-3.59,M,-32.59,M,,*7B : NMEA Update: $GPGGA,212239.51,3642.5851,N,-12154.2162,W,1,03,00.5,074.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212241.00,3642.58512,N,12154.21527,W,1,12,0.8,-4.01,M,-32.59,M,,*73 : NMEA Update: $GPGGA,212240.51,3642.5851,N,-12154.2157,W,1,03,00.5,073.4,M,-99.9,M,,*4a : TerrainNav update at nav time = 2269.994495 : TerrainNav update at dvl time = 2269.994495 : _navData-> (x,y) = (4063235.06, 597925.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2269.99 : 2.41 : Estimated East Bias at time = 2269.99 : 4.56 : Estimated Depth Bias at time = 2269.99 : -0.06 : Estimated northing and easting = 4063237.47 : 597930.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.63 3.42 17.87 3.74 3.85 0 9160.06 06:26:20 m : AshtechGps::processRecord() - $GPGGA,212242.00,3642.58507,N,12154.21483,W,1,12,0.8,-4.29,M,-32.59,M,,*71 : NMEA Update: $GPGGA,212241.51,3642.5851,N,-12154.2152,W,1,03,00.5,074.0,M,-99.9,M,,*4d : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.775000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212243.00,3642.58515,N,12154.21455,W,1,12,0.8,-4.75,M,-32.59,M,,*71 : NMEA Update: $GPGGA,212242.51,3642.5851,N,-12154.2148,W,1,03,00.5,073.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212244.00,3642.58514,N,12154.21425,W,1,12,0.8,-4.65,M,-32.59,M,,*71 : NMEA Update: $GPGGA,212243.51,3642.5852,N,-12154.2145,W,1,03,00.5,073.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212245.00,3642.58519,N,12154.21394,W,1,12,0.8,-4.79,M,-32.59,M,,*7D : NMEA Update: $GPGGA,212244.51,3642.5851,N,-12154.2142,W,1,03,00.5,073.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212246.00,3642.58519,N,12154.21359,W,1,12,0.8,-4.99,M,-32.59,M,,*71 : NMEA Update: $GPGGA,212245.51,3642.5852,N,-12154.2139,W,1,03,00.5,072.8,M,-99.9,M,,*49 : TerrainNav update at nav time = 2274.994152 : TerrainNav update at dvl time = 2274.994152 : _navData-> (x,y) = (4063235.23, 597928.32) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2274.99 : 2.44 : Estimated East Bias at time = 2274.99 : 4.61 : Estimated Depth Bias at time = 2274.99 : -0.06 : Estimated northing and easting = 4063237.67 : 597932.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212247.00,3642.58539,N,12154.21330,W,1,12,0.8,-5.71,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212246.51,3642.5852,N,-12154.2135,W,1,03,00.5,073.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212248.00,3642.58526,N,12154.21260,W,1,12,0.8,-4.99,M,-32.59,M,,*78 : NMEA Update: $GPGGA,212247.51,3642.5854,N,-12154.2132,W,1,03,00.5,073.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212249.00,3642.58538,N,12154.21205,W,1,12,0.8,-4.73,M,-32.59,M,,*71 : NMEA Update: $GPGGA,212248.51,3642.5853,N,-12154.2125,W,1,03,00.5,073.0,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.49 3.97 16.40 3.79 3.83 0 -9400.38 06:26:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212250.00,3642.58546,N,12154.21149,W,1,12,0.8,-4.57,M,-32.59,M,,*7D : NMEA Update: $GPGGA,212249.51,3642.5854,N,-12154.2119,W,1,03,00.5,073.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212251.00,3642.58552,N,12154.21079,W,1,12,0.8,-4.14,M,-32.59,M,,*7C : NMEA Update: $GPGGA,212250.51,3642.5854,N,-12154.2114,W,1,03,00.5,074.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2279.993810 : TerrainNav update at dvl time = 2279.993810 : _navData-> (x,y) = (4063235.89, 597932.55) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2279.99 : 2.42 : Estimated East Bias at time = 2279.99 : 4.64 : Estimated Depth Bias at time = 2279.99 : -0.06 : Estimated northing and easting = 4063238.31 : 597937.20 : BluefinBatt Reply: $b3q0 d- 30.52 4.33 17.87 3.74 3.85 0 9159.80 06:26:30 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212252.00,3642.58542,N,12154.20982,W,1,12,0.8,-3.78,M,-32.59,M,,*7F : NMEA Update: $GPGGA,212251.51,3642.5855,N,-12154.2106,W,1,03,00.5,073.8,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,212253.00,3642.58544,N,12154.20877,W,1,12,0.8,-3.82,M,-32.59,M,,*76 : NMEA Update: $GPGGA,212252.51,3642.5854,N,-12154.2096,W,1,03,00.5,074.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212254.00,3642.58540,N,12154.20783,W,1,12,0.8,-3.92,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212253.51,3642.5854,N,-12154.2086,W,1,03,00.5,074.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212255.00,3642.58523,N,12154.20694,W,1,12,0.8,-4.50,M,-32.59,M,,*7A : NMEA Update: $GPGGA,212254.51,3642.5853,N,-12154.2077,W,1,03,00.5,075.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212256.00,3642.58518,N,12154.20618,W,1,12,0.8,-4.90,M,-32.59,M,,*79 : NMEA Update: $GPGGA,212255.51,3642.5851,N,-12154.2068,W,1,03,00.5,072.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 2284.993467 : TerrainNav update at dvl time = 2284.993467 : _navData-> (x,y) = (4063235.20, 597939.45) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2284.99 : 2.43 : Estimated East Bias at time = 2284.99 : 4.61 : Estimated Depth Bias at time = 2284.99 : -0.06 : Estimated northing and easting = 4063237.63 : 597944.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212257.00,3642.58499,N,12154.20562,W,1,12,0.8,-5.37,M,-32.59,M,,*72 : NMEA Update: $GPGGA,212256.51,3642.5851,N,-12154.2061,W,1,03,00.5,074.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212258.00,3642.58507,N,12154.20520,W,1,12,0.8,-5.75,M,-32.59,M,,*7B : NMEA Update: $GPGGA,212257.51,3642.5849,N,-12154.2055,W,1,03,00.5,073.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212259.00,3642.58491,N,12154.20478,W,1,12,0.8,-5.36,M,-32.59,M,,*7F : NMEA Update: $GPGGA,212258.51,3642.5850,N,-12154.2051,W,1,03,00.5,072.3,M,-99.9,M,,*43 : BluefinBatt Reply: $aaq0 d- 30.45 4.30 16.40 3.79 3.83 0 -9400.84 06:26:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212300.00,3642.58485,N,12154.20416,W,1,12,0.8,-4.75,M,-32.59,M,,*79 : NMEA Update: $GPGGA,212259.51,3642.5849,N,-12154.2047,W,1,03,00.5,074.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212301.00,3642.58472,N,12154.20339,W,1,12,0.8,-4.59,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212300.51,3642.5848,N,-12154.2040,W,1,03,00.5,073.8,M,-99.9,M,,*4c : TerrainNav update at nav time = 2289.993125 : TerrainNav update at dvl time = 2289.993125 : _navData-> (x,y) = (4063234.44, 597943.58) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2289.99 : 2.39 : Estimated East Bias at time = 2289.99 : 4.67 : Estimated Depth Bias at time = 2289.99 : -0.06 : Estimated northing and easting = 4063236.82 : 597948.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.60 3.15 17.87 3.73 3.84 0 9159.44 06:26:40 m : AshtechGps::processRecord() - $GPGGA,212302.00,3642.58454,N,12154.20261,W,1,12,0.8,-4.32,M,-32.59,M,,*72 : NMEA Update: $GPGGA,212301.51,3642.5847,N,-12154.2033,W,1,03,00.5,073.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,212303.00,3642.58436,N,12154.20180,W,1,12,0.8,-4.12,M,-32.59,M,,*79 : NMEA Update: $GPGGA,212302.51,3642.5845,N,-12154.2025,W,1,03,00.5,073.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212304.00,3642.58407,N,12154.20086,W,1,12,0.8,-3.74,M,-32.59,M,,*7C : NMEA Update: $GPGGA,212303.51,3642.5843,N,-12154.2017,W,1,03,00.5,073.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212305.00,3642.58362,N,12154.19973,W,1,12,0.8,-3.75,M,-32.59,M,,*71 : NMEA Update: $GPGGA,212304.51,3642.5839,N,-12154.2007,W,1,03,00.5,073.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212306.00,3642.58305,N,12154.19875,W,1,12,0.8,-4.14,M,-32.59,M,,*74 : NMEA Update: $GPGGA,212305.51,3642.5835,N,-12154.1996,W,1,03,00.5,074.8,M,-99.9,M,,*45 : TerrainNav update at nav time = 2295.002782 : TerrainNav update at dvl time = 2295.002782 : _navData-> (x,y) = (4063231.28, 597950.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2295.00 : 2.39 : Estimated East Bias at time = 2295.00 : 4.72 : Estimated Depth Bias at time = 2295.00 : -0.06 : Estimated northing and easting = 4063233.66 : 597955.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212307.00,3642.58257,N,12154.19781,W,1,12,0.8,-4.20,M,-32.59,M,,*70 : NMEA Update: $GPGGA,212306.51,3642.5829,N,-12154.1986,W,1,03,00.5,073.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212308.00,3642.58204,N,12154.19716,W,1,12,0.8,-4.76,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212307.51,3642.5824,N,-12154.1977,W,1,03,00.5,075.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212309.00,3642.58161,N,12154.19662,W,1,12,0.8,-5.07,M,-32.59,M,,*70 : NMEA Update: $GPGGA,212308.51,3642.5819,N,-12154.1971,W,1,03,00.5,073.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 4.15 16.40 3.79 3.83 0 -9401.17 06:26:47 m : AshtechGps::processRecord() - $GPGGA,212310.00,3642.58117,N,12154.19632,W,1,12,0.8,-5.31,M,-32.59,M,,*79 : NMEA Update: $GPGGA,212309.51,3642.5815,N,-12154.1966,W,1,03,00.5,073.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212311.00,3642.58069,N,12154.19603,W,1,12,0.8,-5.20,M,-32.59,M,,*72 : NMEA Update: $GPGGA,212310.51,3642.5811,N,-12154.1963,W,1,03,00.5,073.0,M,-99.9,M,,*42 : TerrainNav update at nav time = 2300.002439 : TerrainNav update at dvl time = 2300.002439 : _navData-> (x,y) = (4063227.08, 597954.48) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2300.00 : 2.39 : Estimated East Bias at time = 2300.00 : 4.74 : Estimated Depth Bias at time = 2300.00 : -0.06 : Estimated northing and easting = 4063229.47 : 597959.22 : BluefinBatt Reply: $b3q0 d- 30.63 3.11 17.87 3.73 3.84 0 9159.19 06:26:50 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212312.00,3642.58011,N,12154.19568,W,1,12,0.8,-4.94,M,-32.59,M,,*7E : NMEA Update: $GPGGA,212311.51,3642.5806,N,-12154.1960,W,1,03,00.5,072.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,212313.00,3642.57949,N,12154.19529,W,1,12,0.8,-4.60,M,-32.59,M,,*7A : NMEA Update: $GPGGA,212312.51,3642.5800,N,-12154.1956,W,1,03,00.5,072.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212314.00,3642.57891,N,12154.19474,W,1,12,0.8,-4.07,M,-32.59,M,,*71 : NMEA Update: $GPGGA,212313.51,3642.5794,N,-12154.1952,W,1,03,00.5,073.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212315.00,3642.57830,N,12154.19415,W,1,12,0.8,-4.11,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212314.51,3642.5788,N,-12154.1947,W,1,03,00.5,075.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212316.00,3642.57766,N,12154.19361,W,1,12,0.8,-4.07,M,-32.59,M,,*77 : NMEA Update: $GPGGA,212315.51,3642.5782,N,-12154.1941,W,1,03,00.5,073.3,M,-99.9,M,,*41 : TerrainNav update at nav time = 2305.002097 : TerrainNav update at dvl time = 2305.002097 : _navData-> (x,y) = (4063221.44, 597958.26) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2305.00 : 2.36 : Estimated East Bias at time = 2305.00 : 4.72 : Estimated Depth Bias at time = 2305.00 : -0.06 : Estimated northing and easting = 4063223.80 : 597962.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212317.00,3642.57700,N,12154.19300,W,1,12,0.8,-4.17,M,-32.59,M,,*70 : NMEA Update: $GPGGA,212316.51,3642.5775,N,-12154.1935,W,1,03,00.5,073.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212318.00,3642.57634,N,12154.19260,W,1,12,0.8,-4.69,M,-32.59,M,,*77 : NMEA Update: $GPGGA,212317.51,3642.5769,N,-12154.1929,W,1,03,00.5,073.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212319.00,3642.57569,N,12154.19241,W,1,12,0.8,-5.07,M,-32.59,M,,*77 : NMEA Update: $GPGGA,212318.51,3642.5762,N,-12154.1926,W,1,03,00.5,073.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.49 3.26 16.40 3.79 3.83 0 -9401.64 06:26:57 m : AshtechGps::processRecord() - $GPGGA,212320.00,3642.57498,N,12154.19231,W,1,12,0.8,-5.04,M,-32.59,M,,*76 : NMEA Update: $GPGGA,212319.51,3642.5756,N,-12154.1924,W,1,03,00.5,073.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212321.00,3642.57439,N,12154.19231,W,1,12,0.8,-5.29,M,-32.59,M,,*73 : NMEA Update: $GPGGA,212320.51,3642.5749,N,-12154.1923,W,1,03,00.5,072.8,M,-99.9,M,,*4e : TerrainNav update at nav time = 2310.001754 : TerrainNav update at dvl time = 2310.001754 : _navData-> (x,y) = (4063215.45, 597960.10) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2310.00 : 2.43 : Estimated East Bias at time = 2310.00 : 4.72 : Estimated Depth Bias at time = 2310.00 : -0.06 : Estimated northing and easting = 4063217.88 : 597964.82 : BluefinBatt Reply: $b3q0 d- 30.63 3.23 17.87 3.72 3.83 0 9158.86 06:27:00 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212322.00,3642.57375,N,12154.19217,W,1,12,0.8,-5.32,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212321.51,3642.5743,N,-12154.1923,W,1,03,00.5,072.7,M,-99.9,M,,*4a : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,212323.00,3642.57315,N,12154.19229,W,1,12,0.8,-5.32,M,-32.59,M,,*7B : NMEA Update: $GPGGA,212322.51,3642.5736,N,-12154.1922,W,1,03,00.5,073.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212324.00,3642.57257,N,12154.19234,W,1,12,0.8,-5.41,M,-32.59,M,,*73 : NMEA Update: $GPGGA,212323.51,3642.5730,N,-12154.1923,W,1,03,00.5,074.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212325.00,3642.57190,N,12154.19199,W,1,11,0.8,-3.54,M,-32.59,M,,*7F : NMEA Update: $GPGGA,212324.51,3642.5725,N,-12154.1924,W,1,03,00.5,072.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212326.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212325.51,3642.5718,N,-12154.1920,W,1,03,00.5,073.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2315.001412 : TerrainNav update at dvl time = 2315.001412 : _navData-> (x,y) = (4063210.79, 597960.53) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212327.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212326.51,3642.5714,N,-12154.1922,W,1,03,00.5,073.0,M,-99.9,M,,*48 : Estimated North Bias at time = 2315.00 : 1.51 : Estimated East Bias at time = 2315.00 : 3.86 : Estimated Depth Bias at time = 2315.00 : -0.06 : Estimated northing and easting = 4063212.30 : 597964.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212328.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212327.51,3642.5709,N,-12154.1922,W,1,03,00.5,075.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212329.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212328.51,3642.5705,N,-12154.1923,W,1,03,00.5,074.1,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.34 6.16 16.40 3.79 3.83 0 -9401.96 06:27:07 m : AshtechGps::processRecord() - $GPGGA,212330.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212329.51,3642.5700,N,-12154.1925,W,1,03,00.5,072.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212331.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212330.51,3642.5693,N,-12154.1928,W,1,03,00.5,072.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 2320.001069 : TerrainNav update at dvl time = 2320.001069 : _navData-> (x,y) = (4063206.12, 597959.36) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 5.17 17.87 3.72 3.83 0 9158.56 06:27:10 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212332.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212331.51,3642.5688,N,-12154.1932,W,1,03,00.5,071.4,M,-99.9,M,,*4d : Estimated North Bias at time = 2320.00 : 2.70 : Estimated East Bias at time = 2320.00 : 3.60 : Estimated Depth Bias at time = 2320.00 : -0.06 : Estimated northing and easting = 4063208.81 : 597962.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,212333.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212332.51,3642.5682,N,-12154.1937,W,1,03,00.5,073.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212334.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212333.51,3642.5676,N,-12154.1941,W,1,03,00.5,072.0,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212335.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212334.51,3642.5670,N,-12154.1946,W,1,03,00.5,070.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212336.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212335.51,3642.5665,N,-12154.1948,W,1,03,00.5,071.6,M,-99.9,M,,*45 : TerrainNav update at nav time = 2325.000727 : TerrainNav update at dvl time = 2325.000727 : _navData-> (x,y) = (4063200.86, 597956.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212337.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212336.51,3642.5660,N,-12154.1950,W,1,03,00.5,071.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2325.00 : 2.88 : Estimated East Bias at time = 2325.00 : 3.30 : Estimated Depth Bias at time = 2325.00 : -0.06 : Estimated northing and easting = 4063203.73 : 597959.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212338.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212337.51,3642.5654,N,-12154.1953,W,1,03,00.5,071.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212339.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212338.51,3642.5648,N,-12154.1958,W,1,03,00.5,071.1,M,-99.9,M,,*41 : BluefinBatt Reply: $aaq0 d- 30.37 5.71 16.40 3.79 3.83 0 -9402.54 06:27:17 m : AshtechGps::processRecord() - $GPGGA,212340.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212339.51,3642.5641,N,-12154.1962,W,1,03,00.5,070.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212341.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212340.51,3642.5635,N,-12154.1967,W,1,03,00.5,070.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 2330.000384 : TerrainNav update at dvl time = 2330.000384 : _navData-> (x,y) = (4063195.16, 597953.62) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.64 17.87 3.71 3.82 0 9158.04 06:27:20 m : AshtechGps::processRecord() - $GPGGA,212342.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212341.51,3642.5628,N,-12154.1972,W,1,03,00.5,069.4,M,-99.9,M,,*4d : Estimated North Bias at time = 2330.00 : 3.57 : Estimated East Bias at time = 2330.00 : 4.94 : Estimated Depth Bias at time = 2330.00 : -0.06 : Estimated northing and easting = 4063198.73 : 597958.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212343.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212342.51,3642.5623,N,-12154.1977,W,1,03,00.5,069.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212344.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212343.51,3642.5616,N,-12154.1981,W,1,03,00.5,070.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212345.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212344.51,3642.5610,N,-12154.1986,W,1,03,00.5,070.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212346.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212345.51,3642.5603,N,-12154.1990,W,1,03,00.5,069.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 2335.000042 : TerrainNav update at dvl time = 2335.000042 : _navData-> (x,y) = (4063189.29, 597950.26) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212347.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212346.51,3642.5597,N,-12154.1995,W,1,03,00.5,069.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2335.00 : 3.68 : Estimated East Bias at time = 2335.00 : 4.45 : Estimated Depth Bias at time = 2335.00 : -0.06 : Estimated northing and easting = 4063192.97 : 597954.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212348.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212347.51,3642.5591,N,-12154.2000,W,1,03,00.5,069.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212349.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212348.51,3642.5585,N,-12154.2005,W,1,03,00.5,069.1,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.41 5.19 16.40 3.78 3.82 0 -9402.88 06:27:27 m : AshtechGps::processRecord() - $GPGGA,212350.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212349.51,3642.5579,N,-12154.2010,W,1,03,00.5,068.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212351.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212350.51,3642.5573,N,-12154.2014,W,1,03,00.5,068.7,M,-99.9,M,,*48 : TerrainNav update at nav time = 2339.999699 : TerrainNav update at dvl time = 2339.999699 : _navData-> (x,y) = (4063183.60, 597946.90) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.71 17.87 3.71 3.82 0 9157.70 06:27:30 m : AshtechGps::processRecord() - $GPGGA,212352.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212351.51,3642.5566,N,-12154.2018,W,1,03,00.5,069.2,M,-99.9,M,,*45 : Estimated North Bias at time = 2340.00 : 3.52 : Estimated East Bias at time = 2340.00 : 4.68 : Estimated Depth Bias at time = 2340.00 : -0.06 : Estimated northing and easting = 4063187.12 : 597951.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212353.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212352.51,3642.5559,N,-12154.2022,W,1,03,00.5,068.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212354.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212353.50,3642.5553,N,-12154.2028,W,1,03,00.5,067.9,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212355.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212354.50,3642.5547,N,-12154.2034,W,1,03,00.5,067.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212356.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212355.50,3642.5541,N,-12154.2040,W,1,03,00.5,067.6,M,-99.9,M,,*42 : TerrainNav update at nav time = 2344.999357 : TerrainNav update at dvl time = 2344.999357 : _navData-> (x,y) = (4063177.65, 597942.90) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212357.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212356.50,3642.5534,N,-12154.2047,W,1,03,00.5,066.9,M,-99.9,M,,*4a : Estimated North Bias at time = 2345.00 : 3.28 : Estimated East Bias at time = 2345.00 : 5.76 : Estimated Depth Bias at time = 2345.00 : -0.06 : Estimated northing and easting = 4063180.93 : 597948.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212358.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212357.50,3642.5528,N,-12154.2052,W,1,03,00.5,066.6,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on depth 8.082186 > 8.000000 at time 2391.396178 : LayeredControl::execute() -- (t = 2391.396178) Behavior descend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2391.396178) Behavior setpoint:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,212359.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212358.50,3642.5521,N,-12154.2057,W,1,03,00.5,066.2,M,-99.9,M,,*4a : BluefinBatt Reply: $aaq0 d- 30.37 5.30 16.40 3.78 3.82 0 -9403.42 06:27:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212400.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212359.50,3642.5514,N,-12154.2060,W,1,03,00.5,066.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212401.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212400.50,3642.5508,N,-12154.2063,W,1,03,00.5,067.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2349.999014 : TerrainNav update at dvl time = 2349.999014 : _navData-> (x,y) = (4063171.55, 597939.63) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 5.09 17.87 3.72 3.83 0 9157.26 06:27:40 m : AshtechGps::processRecord() - $GPGGA,212402.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212401.50,3642.5501,N,-12154.2068,W,1,03,00.5,066.9,M,-99.9,M,,*44 : Estimated North Bias at time = 2350.00 : 3.48 : Estimated East Bias at time = 2350.00 : 4.36 : Estimated Depth Bias at time = 2350.00 : -0.06 : Estimated northing and easting = 4063175.02 : 597943.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212403.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212402.50,3642.5495,N,-12154.2073,W,1,03,00.5,066.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212404.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212403.50,3642.5488,N,-12154.2079,W,1,03,00.5,066.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212405.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212404.50,3642.5481,N,-12154.2085,W,1,03,00.5,065.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212406.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212405.50,3642.5475,N,-12154.2091,W,1,03,00.5,065.3,M,-99.9,M,,*4d : TerrainNav update at nav time = 2354.998672 : TerrainNav update at dvl time = 2354.998672 : _navData-> (x,y) = (4063165.34, 597935.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212407.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212406.50,3642.5468,N,-12154.2096,W,1,03,00.5,065.1,M,-99.9,M,,*47 : Estimated North Bias at time = 2355.00 : 3.60 : Estimated East Bias at time = 2355.00 : 5.30 : Estimated Depth Bias at time = 2355.00 : -0.06 : Estimated northing and easting = 4063168.94 : 597940.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212408.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212407.50,3642.5461,N,-12154.2101,W,1,03,00.5,066.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212409.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212408.50,3642.5455,N,-12154.2106,W,1,03,00.5,066.2,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.37 5.34 16.40 3.78 3.82 0 -9403.75 06:27:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212410.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212409.50,3642.5448,N,-12154.2110,W,1,03,00.5,066.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212411.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212410.50,3642.5441,N,-12154.2115,W,1,03,00.5,066.7,M,-99.9,M,,*44 : TerrainNav update at nav time = 2359.998329 : TerrainNav update at dvl time = 2359.998329 : _navData-> (x,y) = (4063159.13, 597931.99) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.33 17.87 3.72 3.83 0 9156.96 06:27:50 m : AshtechGps::processRecord() - $GPGGA,212412.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212411.50,3642.5434,N,-12154.2121,W,1,03,00.5,066.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2360.00 : 3.44 : Estimated East Bias at time = 2360.00 : 4.85 : Estimated Depth Bias at time = 2360.00 : -0.06 : Estimated northing and easting = 4063162.57 : 597936.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212413.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212412.50,3642.5427,N,-12154.2127,W,1,03,00.5,065.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212414.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212413.50,3642.5421,N,-12154.2133,W,1,03,00.5,065.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212415.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212414.50,3642.5415,N,-12154.2138,W,1,03,00.5,066.4,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212416.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212415.50,3642.5409,N,-12154.2143,W,1,03,00.5,066.1,M,-99.9,M,,*48 : TerrainNav update at nav time = 2364.997987 : TerrainNav update at dvl time = 2364.997987 : _navData-> (x,y) = (4063153.07, 597927.97) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212417.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212416.50,3642.5402,N,-12154.2148,W,1,03,00.5,066.4,M,-99.9,M,,*4e : Estimated North Bias at time = 2365.00 : 2.89 : Estimated East Bias at time = 2365.00 : 4.75 : Estimated Depth Bias at time = 2365.00 : -0.06 : Estimated northing and easting = 4063155.96 : 597932.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212418.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212417.50,3642.5396,N,-12154.2153,W,1,03,00.5,065.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212419.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212418.50,3642.5389,N,-12154.2158,W,1,03,00.5,065.1,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.08 16.40 3.78 3.82 0 -9404.27 06:27:57 m : AshtechGps::processRecord() - $GPGGA,212420.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212419.50,3642.5383,N,-12154.2165,W,1,03,00.5,065.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212421.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212420.50,3642.5376,N,-12154.2170,W,1,03,00.5,066.4,M,-99.9,M,,*44 : TerrainNav update at nav time = 2369.997644 : TerrainNav update at dvl time = 2369.997644 : _navData-> (x,y) = (4063146.97, 597923.96) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.33 17.87 3.72 3.83 0 9156.48 06:28:00 m : AshtechGps::processRecord() - $GPGGA,212422.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212421.50,3642.5369,N,-12154.2175,W,1,03,00.5,064.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2370.00 : 3.35 : Estimated East Bias at time = 2370.00 : 5.48 : Estimated Depth Bias at time = 2370.00 : -0.06 : Estimated northing and easting = 4063150.31 : 597929.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212423.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212422.50,3642.5362,N,-12154.2180,W,1,03,00.5,065.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212424.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212423.50,3642.5355,N,-12154.2185,W,1,03,00.5,065.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212425.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212424.50,3642.5348,N,-12154.2190,W,1,03,00.5,065.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212426.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212425.50,3642.5342,N,-12154.2196,W,1,03,00.5,065.0,M,-99.9,M,,*49 : TerrainNav update at nav time = 2374.997302 : TerrainNav update at dvl time = 2374.997302 : _navData-> (x,y) = (4063140.72, 597920.21) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212427.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212426.50,3642.5336,N,-12154.2202,W,1,03,00.5,064.9,M,-99.9,M,,*4f : Estimated North Bias at time = 2375.00 : 3.34 : Estimated East Bias at time = 2375.00 : 5.53 : Estimated Depth Bias at time = 2375.00 : -0.06 : Estimated northing and easting = 4063144.07 : 597925.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212428.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212427.50,3642.5330,N,-12154.2208,W,1,03,00.5,064.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212429.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212428.50,3642.5323,N,-12154.2214,W,1,03,00.5,064.7,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 4.93 16.40 3.78 3.82 0 -9404.63 06:28:07 m : AshtechGps::processRecord() - $GPGGA,212430.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212429.50,3642.5316,N,-12154.2219,W,1,03,00.5,064.6,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212431.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212430.50,3642.5309,N,-12154.2223,W,1,03,00.5,065.4,M,-99.9,M,,*4b : TerrainNav update at nav time = 2379.996959 : TerrainNav update at dvl time = 2379.996959 : _navData-> (x,y) = (4063134.55, 597916.21) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.56 4.41 17.87 3.72 3.83 0 9156.19 06:28:10 m : AshtechGps::processRecord() - $GPGGA,212432.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212431.50,3642.5303,N,-12154.2228,W,1,03,00.5,065.7,M,-99.9,M,,*48 : Estimated North Bias at time = 2380.00 : 3.97 : Estimated East Bias at time = 2380.00 : 5.06 : Estimated Depth Bias at time = 2380.00 : -0.06 : Estimated northing and easting = 4063138.52 : 597921.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212433.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212432.50,3642.5296,N,-12154.2233,W,1,03,00.5,065.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212434.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212433.50,3642.5289,N,-12154.2239,W,1,03,00.5,065.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212435.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212434.50,3642.5282,N,-12154.2244,W,1,03,00.5,065.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212436.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212435.50,3642.5275,N,-12154.2250,W,1,03,00.5,065.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2384.996617 : TerrainNav update at dvl time = 2384.996617 : _navData-> (x,y) = (4063128.26, 597912.36) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212437.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212436.50,3642.5269,N,-12154.2254,W,1,03,00.5,065.8,M,-99.9,M,,*46 : Estimated North Bias at time = 2385.00 : 3.88 : Estimated East Bias at time = 2385.00 : 5.65 : Estimated Depth Bias at time = 2385.00 : -0.06 : Estimated northing and easting = 4063132.14 : 597918.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212438.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212437.50,3642.5262,N,-12154.2259,W,1,03,00.5,066.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212439.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212438.50,3642.5256,N,-12154.2264,W,1,03,00.5,065.5,M,-99.9,M,,*4a : BluefinBatt Reply: $aaq0 d- 30.41 5.19 16.40 3.78 3.82 0 -9405.16 06:28:17 m : AshtechGps::processRecord() - $GPGGA,212440.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212439.50,3642.5249,N,-12154.2269,W,1,03,00.5,065.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212441.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212440.50,3642.5243,N,-12154.2276,W,1,03,00.5,065.4,M,-99.9,M,,*43 : TerrainNav update at nav time = 2389.996274 : TerrainNav update at dvl time = 2389.996274 : _navData-> (x,y) = (4063122.11, 597908.53) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 5.13 17.87 3.72 3.83 0 9155.72 06:28:20 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212442.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212441.50,3642.5236,N,-12154.2282,W,1,03,00.5,065.1,M,-99.9,M,,*4e : Estimated North Bias at time = 2390.00 : 3.82 : Estimated East Bias at time = 2390.00 : 6.00 : Estimated Depth Bias at time = 2390.00 : -0.06 : Estimated northing and easting = 4063125.93 : 597914.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212443.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212442.50,3642.5229,N,-12154.2288,W,1,03,00.5,064.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212444.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212443.50,3642.5222,N,-12154.2293,W,1,03,00.5,065.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212445.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212444.50,3642.5216,N,-12154.2298,W,1,03,00.5,065.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212446.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212445.50,3642.5209,N,-12154.2303,W,1,03,00.5,065.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 2394.995932 : TerrainNav update at dvl time = 2394.995932 : _navData-> (x,y) = (4063115.94, 597904.55) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212447.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212446.50,3642.5203,N,-12154.2308,W,1,03,00.5,065.5,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2395.00 : 3.54 : Estimated East Bias at time = 2395.00 : 5.31 : Estimated Depth Bias at time = 2395.00 : -0.06 : Estimated northing and easting = 4063119.49 : 597909.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212448.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212447.50,3642.5196,N,-12154.2312,W,1,03,00.5,065.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212449.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212448.50,3642.5189,N,-12154.2317,W,1,03,00.5,065.3,M,-99.9,M,,*4f : BluefinBatt Reply: $aaq0 d- 30.41 5.12 16.40 3.78 3.82 0 -9405.50 06:28:27 m : AshtechGps::processRecord() - $GPGGA,212450.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212449.50,3642.5182,N,-12154.2322,W,1,03,00.5,065.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212451.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212450.50,3642.5175,N,-12154.2327,W,1,03,00.5,065.4,M,-99.9,M,,*41 : TerrainNav update at nav time = 2399.995589 : TerrainNav update at dvl time = 2399.995589 : _navData-> (x,y) = (4063109.57, 597901.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.56 17.96 3.72 3.83 0 9155.43 06:28:30 m : AshtechGps::processRecord() - $GPGGA,212452.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212451.50,3642.5168,N,-12154.2333,W,1,03,00.5,065.5,M,-99.9,M,,*48 : Estimated North Bias at time = 2400.00 : 3.88 : Estimated East Bias at time = 2400.00 : 5.24 : Estimated Depth Bias at time = 2400.00 : -0.06 : Estimated northing and easting = 4063113.46 : 597906.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : AshtechGps::processRecord() - $GPGGA,212453.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212452.50,3642.5162,N,-12154.2338,W,1,03,00.5,065.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212454.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212453.50,3642.5155,N,-12154.2344,W,1,03,00.5,065.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212455.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212454.50,3642.5149,N,-12154.2350,W,1,03,00.5,065.1,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212456.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212455.50,3642.5142,N,-12154.2356,W,1,03,00.5,064.9,M,-99.9,M,,*4a : TerrainNav update at nav time = 2404.995247 : TerrainNav update at dvl time = 2404.995247 : _navData-> (x,y) = (4063103.50, 597896.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,212457.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212456.50,3642.5136,N,-12154.2361,W,1,03,00.5,065.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2405.00 : 3.52 : Estimated East Bias at time = 2405.00 : 5.59 : Estimated Depth Bias at time = 2405.00 : -0.06 : Estimated northing and easting = 4063107.02 : 597902.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,212458.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212457.50,3642.5129,N,-12154.2366,W,1,03,00.5,065.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212459.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212458.50,3642.5122,N,-12154.2371,W,1,03,00.5,065.2,M,-99.9,M,,*4e : BluefinBatt Reply: $aaq0 d- 30.41 4.86 16.40 3.78 3.82 0 -9406.04 06:28:37 m : AshtechGps::processRecord() - $GPGGA,212500.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212459.50,3642.5115,N,-12154.2376,W,1,03,00.5,065.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212501.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212500.50,3642.5108,N,-12154.2380,W,1,03,00.5,065.7,M,-99.9,M,,*41 : TerrainNav update at nav time = 2409.994904 : TerrainNav update at dvl time = 2409.994904 : _navData-> (x,y) = (4063097.15, 597893.31) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.48 17.87 3.72 3.83 0 9154.98 06:28:40 m : AshtechGps::processRecord() - $GPGGA,212502.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212501.50,3642.5102,N,-12154.2384,W,1,03,00.5,065.9,M,-99.9,M,,*40 : Estimated North Bias at time = 2409.99 : 3.91 : Estimated East Bias at time = 2409.99 : 4.98 : Estimated Depth Bias at time = 2409.99 : -0.06 : Estimated northing and easting = 4063101.06 : 597898.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212503.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212502.50,3642.5095,N,-12154.2390,W,1,03,00.5,064.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212504.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212503.50,3642.5087,N,-12154.2396,W,1,03,00.5,065.2,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,212505.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212504.50,3642.5080,N,-12154.2402,W,1,03,00.5,065.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212505.31,3642.5075,N,-12154.2406,W,1,03,00.5,064.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212506.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2414.994562 : TerrainNav update at dvl time = 2414.994562 : _navData-> (x,y) = (4063090.74, 597889.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212506.31,3642.5069,N,-12154.2411,W,1,03,00.5,065.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212507.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2414.99 : 3.98 : Estimated East Bias at time = 2414.99 : 5.85 : Estimated Depth Bias at time = 2414.99 : -0.06 : Estimated northing and easting = 4063094.72 : 597895.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212507.31,3642.5063,N,-12154.2417,W,1,03,00.5,065.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212508.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212508.31,3642.5057,N,-12154.2422,W,1,03,00.5,065.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212509.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.71 16.40 3.77 3.82 0 -9406.37 06:28:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212509.31,3642.5050,N,-12154.2428,W,1,03,00.5,065.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212510.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212510.31,3642.5043,N,-12154.2434,W,1,03,00.5,065.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212511.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2419.994219 : TerrainNav update at dvl time = 2419.994219 : _navData-> (x,y) = (4063084.65, 597885.32) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 5.25 17.96 3.72 3.83 0 9154.64 06:28:50 m : NMEA Update: $GPGGA,212511.31,3642.5035,N,-12154.2438,W,1,03,00.5,064.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212512.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2419.99 : 4.57 : Estimated East Bias at time = 2419.99 : 5.99 : Estimated Depth Bias at time = 2419.99 : -0.06 : Estimated northing and easting = 4063089.21 : 597891.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212512.31,3642.5028,N,-12154.2442,W,1,03,00.5,065.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212513.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212513.31,3642.5021,N,-12154.2447,W,1,03,00.5,065.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212514.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212514.31,3642.5015,N,-12154.2453,W,1,03,00.5,065.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212515.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212515.31,3642.5008,N,-12154.2459,W,1,03,00.5,065.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212516.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2424.993877 : TerrainNav update at dvl time = 2424.993877 : _navData-> (x,y) = (4063078.29, 597881.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212516.31,3642.5002,N,-12154.2465,W,1,03,00.5,065.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212517.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2424.99 : 3.86 : Estimated East Bias at time = 2424.99 : 6.08 : Estimated Depth Bias at time = 2424.99 : -0.06 : Estimated northing and easting = 4063082.16 : 597887.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212517.31,3642.4996,N,-12154.2470,W,1,03,00.5,065.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212518.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212518.31,3642.4989,N,-12154.2475,W,1,03,00.5,065.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212519.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.41 4.56 16.40 3.77 3.82 0 -9406.89 06:28:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212519.31,3642.4983,N,-12154.2479,W,1,03,00.5,065.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212520.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212520.31,3642.4976,N,-12154.2484,W,1,03,00.5,065.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212521.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2429.993534 : TerrainNav update at dvl time = 2429.993534 : _navData-> (x,y) = (4063072.20, 597877.84) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.25 17.96 3.72 3.83 0 9154.22 06:29:00 m : NMEA Update: $GPGGA,212521.31,3642.4969,N,-12154.2490,W,1,03,00.5,065.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212522.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2429.99 : 4.15 : Estimated East Bias at time = 2429.99 : 5.59 : Estimated Depth Bias at time = 2429.99 : -0.06 : Estimated northing and easting = 4063076.35 : 597883.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212522.31,3642.4962,N,-12154.2497,W,1,03,00.5,065.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212523.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212523.31,3642.4955,N,-12154.2503,W,1,03,00.5,065.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212524.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212524.31,3642.4948,N,-12154.2508,W,1,03,00.5,064.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212525.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212525.31,3642.4941,N,-12154.2512,W,1,03,00.5,065.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212526.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2434.993192 : TerrainNav update at dvl time = 2434.993192 : _navData-> (x,y) = (4063065.80, 597873.87) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212526.31,3642.4935,N,-12154.2516,W,1,03,00.5,065.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212527.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2434.99 : 4.01 : Estimated East Bias at time = 2434.99 : 5.26 : Estimated Depth Bias at time = 2434.99 : -0.06 : Estimated northing and easting = 4063069.81 : 597879.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212527.31,3642.4929,N,-12154.2521,W,1,03,00.5,065.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212528.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212528.31,3642.4922,N,-12154.2526,W,1,03,00.5,065.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212529.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.19 16.40 3.78 3.82 0 -9407.24 06:29:07 m : NMEA Update: $GPGGA,212529.31,3642.4915,N,-12154.2532,W,1,03,00.5,065.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212530.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212530.31,3642.4908,N,-12154.2538,W,1,03,00.5,065.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212531.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2440.002848 : TerrainNav update at dvl time = 2440.002848 : _navData-> (x,y) = (4063059.62, 597870.10) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.64 17.96 3.72 3.83 0 9153.90 06:29:10 m : NMEA Update: $GPGGA,212531.31,3642.4901,N,-12154.2543,W,1,03,00.5,065.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212532.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2440.00 : 4.34 : Estimated East Bias at time = 2440.00 : 6.13 : Estimated Depth Bias at time = 2440.00 : -0.06 : Estimated northing and easting = 4063063.96 : 597876.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : NMEA Update: $GPGGA,212532.31,3642.4894,N,-12154.2548,W,1,03,00.5,065.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212533.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212533.31,3642.4887,N,-12154.2553,W,1,03,00.5,065.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212534.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212534.31,3642.4881,N,-12154.2559,W,1,03,00.5,065.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212535.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212535.31,3642.4874,N,-12154.2564,W,1,03,00.5,065.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212536.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2445.002506 : TerrainNav update at dvl time = 2445.002506 : _navData-> (x,y) = (4063053.20, 597866.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212536.31,3642.4867,N,-12154.2570,W,1,03,00.5,065.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212537.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2445.00 : 4.33 : Estimated East Bias at time = 2445.00 : 6.19 : Estimated Depth Bias at time = 2445.00 : -0.06 : Estimated northing and easting = 4063057.52 : 597872.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212537.31,3642.4861,N,-12154.2575,W,1,03,00.5,065.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212538.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212538.31,3642.4854,N,-12154.2580,W,1,03,00.5,065.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212539.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 5.23 16.40 3.78 3.82 0 -9407.77 06:29:17 m : NMEA Update: $GPGGA,212539.31,3642.4847,N,-12154.2585,W,1,03,00.5,065.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212540.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212540.31,3642.4840,N,-12154.2590,W,1,03,00.5,065.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212541.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2450.002163 : TerrainNav update at dvl time = 2450.002163 : _navData-> (x,y) = (4063046.89, 597862.53) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.56 17.87 3.71 3.83 0 9153.44 06:29:20 m : NMEA Update: $GPGGA,212541.31,3642.4833,N,-12154.2594,W,1,03,00.5,065.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212542.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2450.00 : 4.49 : Estimated East Bias at time = 2450.00 : 5.86 : Estimated Depth Bias at time = 2450.00 : -0.06 : Estimated northing and easting = 4063051.38 : 597868.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212542.31,3642.4826,N,-12154.2599,W,1,03,00.5,065.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212543.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212543.31,3642.4819,N,-12154.2604,W,1,03,00.5,065.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212544.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212544.31,3642.4812,N,-12154.2609,W,1,03,00.5,065.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212545.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212545.31,3642.4805,N,-12154.2615,W,1,03,00.5,065.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212546.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2455.001821 : TerrainNav update at dvl time = 2455.001821 : _navData-> (x,y) = (4063040.42, 597858.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212546.31,3642.4799,N,-12154.2621,W,1,03,00.5,065.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212547.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2455.00 : 4.33 : Estimated East Bias at time = 2455.00 : 6.22 : Estimated Depth Bias at time = 2455.00 : -0.06 : Estimated northing and easting = 4063044.76 : 597864.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212547.31,3642.4792,N,-12154.2627,W,1,03,00.5,065.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212548.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212548.31,3642.4786,N,-12154.2634,W,1,03,00.5,065.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212549.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.41 4.82 16.40 3.78 3.82 0 -9408.10 06:29:27 m : NMEA Update: $GPGGA,212549.31,3642.4779,N,-12154.2639,W,1,03,00.5,064.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212550.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212550.31,3642.4772,N,-12154.2644,W,1,03,00.5,065.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212551.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2460.001478 : TerrainNav update at dvl time = 2460.001478 : _navData-> (x,y) = (4063034.23, 597854.66) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.67 17.87 3.71 3.83 0 9153.13 06:29:30 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212551.31,3642.4765,N,-12154.2648,W,1,03,00.5,065.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212552.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2460.00 : 4.48 : Estimated East Bias at time = 2460.00 : 5.99 : Estimated Depth Bias at time = 2460.00 : -0.06 : Estimated northing and easting = 4063038.71 : 597860.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212552.31,3642.4758,N,-12154.2652,W,1,03,00.5,066.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212553.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212553.31,3642.4750,N,-12154.2657,W,1,03,00.5,066.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212554.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212554.31,3642.4743,N,-12154.2662,W,1,03,00.5,064.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212555.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212555.31,3642.4736,N,-12154.2667,W,1,03,00.5,065.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212556.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2465.001136 : TerrainNav update at dvl time = 2465.001136 : _navData-> (x,y) = (4063027.56, 597851.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212556.31,3642.4730,N,-12154.2673,W,1,03,00.5,065.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212557.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2465.00 : 4.60 : Estimated East Bias at time = 2465.00 : 6.48 : Estimated Depth Bias at time = 2465.00 : -0.06 : Estimated northing and easting = 4063032.16 : 597857.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212557.31,3642.4724,N,-12154.2678,W,1,03,00.5,065.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212558.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212558.31,3642.4717,N,-12154.2684,W,1,03,00.5,065.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212559.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.08 16.40 3.78 3.82 0 -9408.63 06:29:37 m : NMEA Update: $GPGGA,212559.31,3642.4711,N,-12154.2690,W,1,03,00.5,065.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212600.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212600.31,3642.4704,N,-12154.2697,W,1,03,00.5,065.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212601.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2470.000793 : TerrainNav update at dvl time = 2470.000793 : _navData-> (x,y) = (4063021.55, 597846.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.25 17.96 3.71 3.83 0 9152.68 06:29:40 m : NMEA Update: $GPGGA,212601.31,3642.4697,N,-12154.2703,W,1,03,00.5,064.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212602.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2470.00 : 4.50 : Estimated East Bias at time = 2470.00 : 7.06 : Estimated Depth Bias at time = 2470.00 : -0.06 : Estimated northing and easting = 4063026.05 : 597853.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212602.31,3642.4690,N,-12154.2708,W,1,03,00.5,066.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212603.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212603.31,3642.4682,N,-12154.2712,W,1,03,00.5,065.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212604.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212604.31,3642.4675,N,-12154.2716,W,1,03,00.5,065.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212605.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212605.31,3642.4669,N,-12154.2720,W,1,03,00.5,066.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212606.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2475.000451 : TerrainNav update at dvl time = 2475.000451 : _navData-> (x,y) = (4063015.01, 597843.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212606.31,3642.4662,N,-12154.2725,W,1,03,00.5,065.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212607.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2475.00 : 4.26 : Estimated East Bias at time = 2475.00 : 6.02 : Estimated Depth Bias at time = 2475.00 : -0.06 : Estimated northing and easting = 4063019.28 : 597849.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212607.31,3642.4655,N,-12154.2729,W,1,03,00.5,065.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212608.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212608.31,3642.4648,N,-12154.2735,W,1,03,00.5,065.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212609.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.23 16.40 3.78 3.82 0 -9408.99 06:29:47 m : NMEA Update: $GPGGA,212609.31,3642.4641,N,-12154.2740,W,1,03,00.5,065.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212610.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212610.31,3642.4635,N,-12154.2746,W,1,03,00.5,065.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212611.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2480.000108 : TerrainNav update at dvl time = 2480.000108 : _navData-> (x,y) = (4063008.70, 597839.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.18 17.87 3.71 3.83 0 9152.37 06:29:50 m : NMEA Update: $GPGGA,212611.31,3642.4628,N,-12154.2752,W,1,03,00.5,065.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212612.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2480.00 : 4.26 : Estimated East Bias at time = 2480.00 : 6.62 : Estimated Depth Bias at time = 2480.00 : -0.06 : Estimated northing and easting = 4063012.97 : 597846.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212612.31,3642.4622,N,-12154.2758,W,1,03,00.5,065.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212613.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212613.31,3642.4616,N,-12154.2763,W,1,03,00.5,065.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212614.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212614.31,3642.4609,N,-12154.2769,W,1,03,00.5,065.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212615.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212615.31,3642.4602,N,-12154.2775,W,1,03,00.5,064.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212616.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2484.999766 : TerrainNav update at dvl time = 2484.999766 : _navData-> (x,y) = (4063002.50, 597835.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212616.31,3642.4594,N,-12154.2780,W,1,03,00.5,065.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212617.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2485.00 : 4.42 : Estimated East Bias at time = 2485.00 : 6.48 : Estimated Depth Bias at time = 2485.00 : -0.06 : Estimated northing and easting = 4063006.92 : 597841.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212617.31,3642.4587,N,-12154.2784,W,1,03,00.5,066.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212618.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212618.31,3642.4581,N,-12154.2788,W,1,03,00.5,065.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212619.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.53 16.40 3.78 3.82 0 -9409.50 06:29:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212619.30,3642.4574,N,-12154.2793,W,1,03,00.5,065.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212620.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212620.30,3642.4568,N,-12154.2798,W,1,03,00.5,066.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212621.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2489.999424 : TerrainNav update at dvl time = 2489.999424 : _navData-> (x,y) = (4062996.25, 597831.96) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.44 17.96 3.71 3.83 0 9151.91 06:30:00 m : NMEA Update: $GPGGA,212621.30,3642.4561,N,-12154.2804,W,1,03,00.5,065.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212622.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2490.00 : 3.88 : Estimated East Bias at time = 2490.00 : 6.54 : Estimated Depth Bias at time = 2490.00 : -0.06 : Estimated northing and easting = 4063000.13 : 597838.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212622.30,3642.4554,N,-12154.2810,W,1,03,00.5,065.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212623.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212623.30,3642.4547,N,-12154.2816,W,1,03,00.5,065.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212624.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212624.30,3642.4541,N,-12154.2821,W,1,03,00.5,065.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212625.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212625.30,3642.4534,N,-12154.2826,W,1,03,00.5,065.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212626.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2494.999081 : TerrainNav update at dvl time = 2494.999081 : _navData-> (x,y) = (4062989.92, 597827.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212626.30,3642.4527,N,-12154.2831,W,1,03,00.5,065.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212627.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2495.00 : 4.24 : Estimated East Bias at time = 2495.00 : 6.55 : Estimated Depth Bias at time = 2495.00 : -0.06 : Estimated northing and easting = 4062994.16 : 597834.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212627.30,3642.4520,N,-12154.2836,W,1,03,00.5,065.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212628.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212628.30,3642.4513,N,-12154.2842,W,1,03,00.5,065.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212629.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 4.78 16.40 3.78 3.82 0 -9409.84 06:30:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212629.30,3642.4506,N,-12154.2847,W,1,03,00.5,065.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212630.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212630.30,3642.4500,N,-12154.2853,W,1,03,00.5,065.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212631.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2499.998739 : TerrainNav update at dvl time = 2499.998739 : _navData-> (x,y) = (4062983.57, 597823.90) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.52 17.87 3.71 3.83 0 9151.60 06:30:10 m : NMEA Update: $GPGGA,212631.30,3642.4493,N,-12154.2859,W,1,03,00.5,065.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212632.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2500.00 : 4.30 : Estimated East Bias at time = 2500.00 : 6.89 : Estimated Depth Bias at time = 2500.00 : -0.06 : Estimated northing and easting = 4062987.87 : 597830.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212632.30,3642.4487,N,-12154.2865,W,1,03,00.5,065.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212633.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212633.30,3642.4480,N,-12154.2870,W,1,03,00.5,065.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212634.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212634.30,3642.4474,N,-12154.2875,W,1,03,00.5,065.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212635.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212635.30,3642.4467,N,-12154.2880,W,1,03,00.5,065.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212636.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2504.998396 : TerrainNav update at dvl time = 2504.998396 : _navData-> (x,y) = (4062977.34, 597820.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212636.30,3642.4459,N,-12154.2885,W,1,03,00.5,065.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212637.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2505.00 : 4.50 : Estimated East Bias at time = 2505.00 : 6.33 : Estimated Depth Bias at time = 2505.00 : -0.06 : Estimated northing and easting = 4062981.84 : 597826.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212637.30,3642.4452,N,-12154.2890,W,1,03,00.5,065.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212638.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212638.30,3642.4445,N,-12154.2895,W,1,03,00.5,065.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212639.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.12 16.40 3.78 3.82 0 -9410.35 06:30:17 m : NMEA Update: $GPGGA,212639.30,3642.4438,N,-12154.2900,W,1,03,00.5,066.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212640.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212640.30,3642.4432,N,-12154.2906,W,1,03,00.5,064.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212641.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2509.998054 : TerrainNav update at dvl time = 2509.998054 : _navData-> (x,y) = (4062971.01, 597816.28) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 3.99 17.96 3.72 3.83 0 9151.15 06:30:20 m : NMEA Update: $GPGGA,212641.30,3642.4426,N,-12154.2912,W,1,03,00.5,065.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212642.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2510.00 : 4.09 : Estimated East Bias at time = 2510.00 : 6.51 : Estimated Depth Bias at time = 2510.00 : -0.06 : Estimated northing and easting = 4062975.10 : 597822.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : NMEA Update: $GPGGA,212642.30,3642.4419,N,-12154.2918,W,1,03,00.5,065.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212643.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212643.30,3642.4413,N,-12154.2924,W,1,03,00.5,065.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212644.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212644.30,3642.4406,N,-12154.2929,W,1,03,00.5,065.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212645.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212645.30,3642.4399,N,-12154.2934,W,1,03,00.5,065.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212646.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2514.997711 : TerrainNav update at dvl time = 2514.997711 : _navData-> (x,y) = (4062964.79, 597812.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212646.30,3642.4392,N,-12154.2939,W,1,03,00.5,066.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212647.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2515.00 : 4.56 : Estimated East Bias at time = 2515.00 : 6.21 : Estimated Depth Bias at time = 2515.00 : -0.06 : Estimated northing and easting = 4062969.35 : 597818.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212647.30,3642.4385,N,-12154.2944,W,1,03,00.5,065.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212648.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212648.30,3642.4378,N,-12154.2950,W,1,03,00.5,065.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212649.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.41 16.40 3.78 3.82 0 -9410.70 06:30:27 m : NMEA Update: $GPGGA,212649.30,3642.4372,N,-12154.2955,W,1,03,00.5,065.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212650.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212650.30,3642.4365,N,-12154.2960,W,1,03,00.5,065.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212651.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2519.997369 : TerrainNav update at dvl time = 2519.997369 : _navData-> (x,y) = (4062958.43, 597808.37) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.33 17.87 3.72 3.83 0 9150.86 06:30:30 m : NMEA Update: $GPGGA,212651.30,3642.4358,N,-12154.2965,W,1,03,00.5,065.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212652.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2520.00 : 4.46 : Estimated East Bias at time = 2520.00 : 6.43 : Estimated Depth Bias at time = 2520.00 : -0.06 : Estimated northing and easting = 4062962.90 : 597814.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : NMEA Update: $GPGGA,212652.30,3642.4352,N,-12154.2971,W,1,03,00.5,065.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212653.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212653.30,3642.4346,N,-12154.2977,W,1,03,00.5,065.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212654.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212654.30,3642.4339,N,-12154.2982,W,1,03,00.5,065.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212655.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212655.30,3642.4332,N,-12154.2986,W,1,03,00.5,065.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212656.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2524.997026 : TerrainNav update at dvl time = 2524.997026 : _navData-> (x,y) = (4062952.34, 597804.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212656.30,3642.4325,N,-12154.2991,W,1,03,00.5,066.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212657.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2525.00 : 4.39 : Estimated East Bias at time = 2525.00 : 6.32 : Estimated Depth Bias at time = 2525.00 : -0.06 : Estimated northing and easting = 4062956.73 : 597810.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212657.30,3642.4318,N,-12154.2996,W,1,03,00.5,065.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212658.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212658.30,3642.4311,N,-12154.3002,W,1,03,00.5,065.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212659.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.30 16.40 3.78 3.82 0 -9411.24 06:30:37 m : NMEA Update: $GPGGA,212659.30,3642.4304,N,-12154.3008,W,1,03,00.5,066.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212700.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212700.30,3642.4298,N,-12154.3014,W,1,03,00.5,065.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212701.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2529.996683 : TerrainNav update at dvl time = 2529.996683 : _navData-> (x,y) = (4062945.94, 597800.32) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.98 17.96 3.71 3.83 0 9150.38 06:30:40 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212701.30,3642.4291,N,-12154.3021,W,1,03,00.5,065.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212702.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2530.00 : 3.99 : Estimated East Bias at time = 2530.00 : 7.09 : Estimated Depth Bias at time = 2530.00 : -0.06 : Estimated northing and easting = 4062949.92 : 597807.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212702.30,3642.4285,N,-12154.3027,W,1,03,00.5,064.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212703.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212703.30,3642.4278,N,-12154.3032,W,1,03,00.5,065.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212704.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212704.30,3642.4271,N,-12154.3036,W,1,03,00.5,065.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212705.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212705.30,3642.4264,N,-12154.3039,W,1,03,00.5,065.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212706.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2534.996341 : TerrainNav update at dvl time = 2534.996341 : _navData-> (x,y) = (4062939.70, 597796.80) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212706.30,3642.4257,N,-12154.3044,W,1,03,00.5,066.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212707.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2535.00 : 4.39 : Estimated East Bias at time = 2535.00 : 5.90 : Estimated Depth Bias at time = 2535.00 : -0.06 : Estimated northing and easting = 4062944.10 : 597802.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212707.30,3642.4250,N,-12154.3049,W,1,03,00.5,065.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212708.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212708.30,3642.4243,N,-12154.3054,W,1,03,00.5,065.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212709.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.41 4.97 16.40 3.77 3.82 0 -9411.58 06:30:47 m : NMEA Update: $GPGGA,212709.30,3642.4236,N,-12154.3060,W,1,03,00.5,065.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212710.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212710.30,3642.4230,N,-12154.3066,W,1,03,00.5,065.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212711.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2539.995998 : TerrainNav update at dvl time = 2539.995998 : _navData-> (x,y) = (4062933.31, 597792.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.67 17.87 3.71 3.83 0 9150.07 06:30:50 m : NMEA Update: $GPGGA,212711.30,3642.4224,N,-12154.3072,W,1,03,00.5,065.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212712.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2540.00 : 4.17 : Estimated East Bias at time = 2540.00 : 6.81 : Estimated Depth Bias at time = 2540.00 : -0.06 : Estimated northing and easting = 4062937.48 : 597799.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,212712.30,3642.4217,N,-12154.3078,W,1,03,00.5,065.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212713.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212713.30,3642.4211,N,-12154.3084,W,1,03,00.5,065.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212714.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212714.30,3642.4205,N,-12154.3090,W,1,03,00.5,065.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212715.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212715.30,3642.4198,N,-12154.3095,W,1,03,00.5,066.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212716.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2544.995656 : TerrainNav update at dvl time = 2544.995656 : _navData-> (x,y) = (4062927.23, 597788.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212716.30,3642.4190,N,-12154.3099,W,1,03,00.5,065.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212717.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2545.00 : 4.52 : Estimated East Bias at time = 2545.00 : 6.64 : Estimated Depth Bias at time = 2545.00 : -0.06 : Estimated northing and easting = 4062931.75 : 597795.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212717.30,3642.4183,N,-12154.3103,W,1,03,00.5,065.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212718.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212718.30,3642.4176,N,-12154.3107,W,1,03,00.5,064.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212719.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 4.89 16.40 3.77 3.82 0 -9412.10 06:30:57 m : NMEA Update: $GPGGA,212719.30,3642.4170,N,-12154.3113,W,1,03,00.5,066.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212720.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212720.30,3642.4163,N,-12154.3119,W,1,03,00.5,065.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212721.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2549.995313 : TerrainNav update at dvl time = 2549.995313 : _navData-> (x,y) = (4062920.87, 597785.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.41 17.96 3.71 3.83 0 9149.58 06:31:00 m : NMEA Update: $GPGGA,212721.30,3642.4156,N,-12154.3125,W,1,03,00.5,065.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212722.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2550.00 : 4.12 : Estimated East Bias at time = 2550.00 : 7.12 : Estimated Depth Bias at time = 2550.00 : -0.06 : Estimated northing and easting = 4062925.00 : 597792.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212722.30,3642.4150,N,-12154.3132,W,1,03,00.5,066.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212723.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212723.30,3642.4143,N,-12154.3138,W,1,03,00.5,066.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212724.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212724.30,3642.4137,N,-12154.3143,W,1,03,00.5,065.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212725.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212725.30,3642.4130,N,-12154.3149,W,1,03,00.5,065.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212726.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2554.994971 : TerrainNav update at dvl time = 2554.994971 : _navData-> (x,y) = (4062914.72, 597780.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212726.30,3642.4123,N,-12154.3153,W,1,03,00.5,066.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212727.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2554.99 : 4.04 : Estimated East Bias at time = 2554.99 : 6.51 : Estimated Depth Bias at time = 2554.99 : -0.06 : Estimated northing and easting = 4062918.75 : 597787.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212727.30,3642.4116,N,-12154.3157,W,1,03,00.5,066.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212728.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212728.30,3642.4109,N,-12154.3161,W,1,03,00.5,065.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212729.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 4.78 16.40 3.77 3.82 0 -9412.45 06:31:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212729.30,3642.4102,N,-12154.3165,W,1,03,00.5,066.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212730.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212730.30,3642.4095,N,-12154.3171,W,1,03,00.5,066.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212731.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2559.994628 : TerrainNav update at dvl time = 2559.994628 : _navData-> (x,y) = (4062908.22, 597777.51) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.60 17.87 3.71 3.83 0 9149.30 06:31:10 m : NMEA Update: $GPGGA,212731.31,3642.4089,N,-12154.3177,W,1,03,00.5,065.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212732.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2559.99 : 4.09 : Estimated East Bias at time = 2559.99 : 6.77 : Estimated Depth Bias at time = 2559.99 : -0.06 : Estimated northing and easting = 4062912.31 : 597784.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,212732.31,3642.4082,N,-12154.3183,W,1,03,00.5,065.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212733.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212733.31,3642.4076,N,-12154.3189,W,1,03,00.5,065.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212734.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212734.31,3642.4070,N,-12154.3195,W,1,03,00.5,065.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212735.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212735.31,3642.4063,N,-12154.3201,W,1,03,00.5,065.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212736.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2564.994286 : TerrainNav update at dvl time = 2564.994286 : _navData-> (x,y) = (4062902.16, 597773.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212736.31,3642.4056,N,-12154.3206,W,1,03,00.5,066.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212737.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2564.99 : 4.16 : Estimated East Bias at time = 2564.99 : 6.80 : Estimated Depth Bias at time = 2564.99 : -0.06 : Estimated northing and easting = 4062906.33 : 597779.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212737.31,3642.4048,N,-12154.3210,W,1,03,00.5,066.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212738.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212738.31,3642.4041,N,-12154.3214,W,1,03,00.5,066.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212739.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.19 16.40 3.77 3.82 0 -9412.99 06:31:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212739.31,3642.4035,N,-12154.3219,W,1,03,00.5,066.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212740.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212740.31,3642.4028,N,-12154.3225,W,1,03,00.5,065.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212741.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2569.993943 : TerrainNav update at dvl time = 2569.993943 : _navData-> (x,y) = (4062895.82, 597769.63) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.37 17.96 3.71 3.83 0 9148.83 06:31:20 m : NMEA Update: $GPGGA,212741.31,3642.4022,N,-12154.3231,W,1,03,00.5,065.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212742.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2569.99 : 3.71 : Estimated East Bias at time = 2569.99 : 6.96 : Estimated Depth Bias at time = 2569.99 : -0.06 : Estimated northing and easting = 4062899.52 : 597776.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,212742.31,3642.4016,N,-12154.3237,W,1,03,00.5,065.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212743.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212743.31,3642.4009,N,-12154.3242,W,1,03,00.5,066.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212744.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212744.31,3642.4002,N,-12154.3249,W,1,03,00.5,066.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212745.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212745.31,3642.3995,N,-12154.3254,W,1,03,00.5,066.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212746.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2574.993601 : TerrainNav update at dvl time = 2574.993601 : _navData-> (x,y) = (4062889.49, 597765.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212746.31,3642.3988,N,-12154.3259,W,1,03,00.5,065.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212747.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2574.99 : 4.13 : Estimated East Bias at time = 2574.99 : 6.94 : Estimated Depth Bias at time = 2574.99 : -0.06 : Estimated northing and easting = 4062893.62 : 597772.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212747.31,3642.3981,N,-12154.3264,W,1,03,00.5,065.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212748.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212748.31,3642.3975,N,-12154.3268,W,1,03,00.5,066.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212749.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.08 16.40 3.78 3.82 0 -9413.34 06:31:27 m : NMEA Update: $GPGGA,212749.31,3642.3969,N,-12154.3273,W,1,03,00.5,065.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212750.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212750.31,3642.3962,N,-12154.3278,W,1,03,00.5,066.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212751.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2579.993258 : TerrainNav update at dvl time = 2579.993258 : _navData-> (x,y) = (4062883.33, 597761.87) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.07 17.96 3.71 3.83 0 9148.52 06:31:30 m : NMEA Update: $GPGGA,212751.31,3642.3955,N,-12154.3284,W,1,03,00.5,066.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212752.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2579.99 : 3.66 : Estimated East Bias at time = 2579.99 : 6.73 : Estimated Depth Bias at time = 2579.99 : -0.06 : Estimated northing and easting = 4062886.99 : 597768.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212752.31,3642.3947,N,-12154.3290,W,1,03,00.5,065.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212753.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212753.31,3642.3940,N,-12154.3297,W,1,03,00.5,065.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212754.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212754.31,3642.3933,N,-12154.3303,W,1,03,00.5,065.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212755.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212755.31,3642.3927,N,-12154.3309,W,1,03,00.5,065.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212756.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2585.002915 : TerrainNav update at dvl time = 2585.002915 : _navData-> (x,y) = (4062876.85, 597757.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212756.31,3642.3920,N,-12154.3314,W,1,03,00.5,065.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212757.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2585.00 : 3.35 : Estimated East Bias at time = 2585.00 : 7.00 : Estimated Depth Bias at time = 2585.00 : -0.06 : Estimated northing and easting = 4062880.20 : 597764.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212757.31,3642.3914,N,-12154.3318,W,1,03,00.5,065.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212758.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212758.31,3642.3907,N,-12154.3321,W,1,03,00.5,066.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212759.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.26 16.40 3.78 3.82 0 -9413.86 06:31:37 m : NMEA Update: $GPGGA,212759.31,3642.3900,N,-12154.3324,W,1,03,00.5,066.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212800.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212800.31,3642.3893,N,-12154.3328,W,1,03,00.5,065.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212801.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2590.002573 : TerrainNav update at dvl time = 2590.002573 : _navData-> (x,y) = (4062870.45, 597754.48) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.07 17.87 3.72 3.83 0 9148.04 06:31:40 m : NMEA Update: $GPGGA,212801.31,3642.3885,N,-12154.3335,W,1,03,00.5,064.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212802.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2590.00 : 4.02 : Estimated East Bias at time = 2590.00 : 5.91 : Estimated Depth Bias at time = 2590.00 : -0.06 : Estimated northing and easting = 4062874.48 : 597760.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : NMEA Update: $GPGGA,212802.31,3642.3878,N,-12154.3342,W,1,03,00.5,066.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212803.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212803.31,3642.3872,N,-12154.3349,W,1,03,00.5,065.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212804.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212804.31,3642.3866,N,-12154.3355,W,1,03,00.5,065.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212805.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212805.31,3642.3860,N,-12154.3361,W,1,03,00.5,065.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212806.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2595.002230 : TerrainNav update at dvl time = 2595.002230 : _navData-> (x,y) = (4062864.38, 597749.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212806.31,3642.3853,N,-12154.3366,W,1,03,00.5,065.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212807.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2595.00 : 3.22 : Estimated East Bias at time = 2595.00 : 6.24 : Estimated Depth Bias at time = 2595.00 : -0.06 : Estimated northing and easting = 4062867.60 : 597756.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212807.31,3642.3846,N,-12154.3370,W,1,03,00.5,066.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212808.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212808.31,3642.3839,N,-12154.3375,W,1,03,00.5,065.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212809.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 4.89 16.40 3.78 3.82 0 -9414.21 06:31:47 m : NMEA Update: $GPGGA,212809.31,3642.3832,N,-12154.3380,W,1,03,00.5,065.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212810.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212810.31,3642.3825,N,-12154.3385,W,1,03,00.5,066.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212811.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2600.001888 : TerrainNav update at dvl time = 2600.001888 : _navData-> (x,y) = (4062857.87, 597746.29) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.60 17.96 3.72 3.83 0 9147.72 06:31:50 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212811.31,3642.3818,N,-12154.3390,W,1,03,00.5,065.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212812.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2600.00 : 3.44 : Estimated East Bias at time = 2600.00 : 6.31 : Estimated Depth Bias at time = 2600.00 : -0.06 : Estimated northing and easting = 4062861.32 : 597752.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : NMEA Update: $GPGGA,212812.31,3642.3811,N,-12154.3396,W,1,03,00.5,065.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212813.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212813.31,3642.3805,N,-12154.3401,W,1,03,00.5,065.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212814.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212814.31,3642.3798,N,-12154.3406,W,1,03,00.5,066.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212815.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212815.31,3642.3791,N,-12154.3411,W,1,03,00.5,065.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212816.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2605.001545 : TerrainNav update at dvl time = 2605.001545 : _navData-> (x,y) = (4062851.59, 597742.40) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212816.31,3642.3784,N,-12154.3417,W,1,03,00.5,066.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212817.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2605.00 : 3.38 : Estimated East Bias at time = 2605.00 : 6.38 : Estimated Depth Bias at time = 2605.00 : -0.06 : Estimated northing and easting = 4062854.97 : 597748.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212817.31,3642.3778,N,-12154.3422,W,1,03,00.5,066.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212818.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212818.31,3642.3771,N,-12154.3428,W,1,03,00.5,065.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212819.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.08 16.40 3.78 3.82 0 -9414.76 06:31:57 m : NMEA Update: $GPGGA,212819.31,3642.3765,N,-12154.3434,W,1,03,00.5,065.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212820.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212820.31,3642.3758,N,-12154.3440,W,1,03,00.5,065.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212821.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2610.001203 : TerrainNav update at dvl time = 2610.001203 : _navData-> (x,y) = (4062845.45, 597738.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 4.48 17.87 3.72 3.83 0 9147.22 06:32:00 m : NMEA Update: $GPGGA,212821.31,3642.3751,N,-12154.3446,W,1,03,00.5,065.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212822.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2610.00 : 3.28 : Estimated East Bias at time = 2610.00 : 6.86 : Estimated Depth Bias at time = 2610.00 : -0.06 : Estimated northing and easting = 4062848.73 : 597745.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : NMEA Update: $GPGGA,212822.31,3642.3744,N,-12154.3452,W,1,03,00.5,065.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212823.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212823.31,3642.3736,N,-12154.3456,W,1,03,00.5,066.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212824.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212824.31,3642.3730,N,-12154.3461,W,1,03,00.5,066.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212825.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212825.31,3642.3723,N,-12154.3464,W,1,03,00.5,066.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212826.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2615.000860 : TerrainNav update at dvl time = 2615.000860 : _navData-> (x,y) = (4062838.98, 597734.70) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212826.31,3642.3717,N,-12154.3469,W,1,03,00.5,066.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212827.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2615.00 : 2.99 : Estimated East Bias at time = 2615.00 : 5.90 : Estimated Depth Bias at time = 2615.00 : -0.06 : Estimated northing and easting = 4062841.97 : 597740.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212827.31,3642.3710,N,-12154.3474,W,1,03,00.5,065.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212828.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212828.31,3642.3704,N,-12154.3480,W,1,03,00.5,066.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212829.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 4.97 16.40 3.78 3.82 0 -9415.10 06:32:07 m : NMEA Update: $GPGGA,212829.31,3642.3697,N,-12154.3487,W,1,03,00.5,066.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212830.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212830.31,3642.3690,N,-12154.3493,W,1,03,00.5,066.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212831.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2620.000518 : TerrainNav update at dvl time = 2620.000518 : _navData-> (x,y) = (4062832.73, 597730.38) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.29 17.96 3.72 3.83 0 9146.92 06:32:10 m : NMEA Update: $GPGGA,212831.31,3642.3683,N,-12154.3499,W,1,03,00.5,066.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212832.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2620.00 : 3.41 : Estimated East Bias at time = 2620.00 : 7.35 : Estimated Depth Bias at time = 2620.00 : -0.06 : Estimated northing and easting = 4062836.14 : 597737.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212832.31,3642.3676,N,-12154.3505,W,1,03,00.5,065.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212833.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212833.31,3642.3669,N,-12154.3509,W,1,03,00.5,066.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212834.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212834.31,3642.3663,N,-12154.3513,W,1,03,00.5,066.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212835.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212835.31,3642.3656,N,-12154.3518,W,1,03,00.5,066.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212836.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2625.000175 : TerrainNav update at dvl time = 2625.000175 : _navData-> (x,y) = (4062826.42, 597726.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212836.31,3642.3649,N,-12154.3522,W,1,03,00.5,066.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212837.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2625.00 : 3.14 : Estimated East Bias at time = 2625.00 : 6.36 : Estimated Depth Bias at time = 2625.00 : -0.06 : Estimated northing and easting = 4062829.56 : 597733.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212837.31,3642.3643,N,-12154.3527,W,1,03,00.5,066.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212838.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212838.31,3642.3636,N,-12154.3533,W,1,03,00.5,066.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212839.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 4.93 16.40 3.78 3.82 0 -9415.61 06:32:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212839.31,3642.3629,N,-12154.3540,W,1,03,00.5,066.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212840.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212840.31,3642.3622,N,-12154.3546,W,1,03,00.5,066.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212841.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2629.999833 : TerrainNav update at dvl time = 2629.999833 : _navData-> (x,y) = (4062820.09, 597722.63) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.64 17.87 3.71 3.83 0 9146.43 06:32:20 m : NMEA Update: $GPGGA,212841.31,3642.3615,N,-12154.3552,W,1,03,00.5,065.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212842.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2630.00 : 3.21 : Estimated East Bias at time = 2630.00 : 7.43 : Estimated Depth Bias at time = 2630.00 : -0.06 : Estimated northing and easting = 4062823.30 : 597730.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212842.31,3642.3609,N,-12154.3558,W,1,03,00.5,066.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212843.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212843.31,3642.3602,N,-12154.3563,W,1,03,00.5,065.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212844.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212844.31,3642.3596,N,-12154.3567,W,1,03,00.5,066.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212845.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212845.30,3642.3589,N,-12154.3572,W,1,03,00.5,066.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212846.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2634.999490 : TerrainNav update at dvl time = 2634.999490 : _navData-> (x,y) = (4062813.94, 597718.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212846.30,3642.3582,N,-12154.3577,W,1,03,00.5,065.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212847.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2635.00 : 3.07 : Estimated East Bias at time = 2635.00 : 6.68 : Estimated Depth Bias at time = 2635.00 : -0.06 : Estimated northing and easting = 4062817.01 : 597725.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212847.30,3642.3575,N,-12154.3583,W,1,03,00.5,065.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212848.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212848.30,3642.3568,N,-12154.3589,W,1,03,00.5,066.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212849.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.08 16.40 3.78 3.82 0 -9415.96 06:32:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212849.30,3642.3561,N,-12154.3594,W,1,03,00.5,065.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212850.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212850.30,3642.3554,N,-12154.3600,W,1,03,00.5,065.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212851.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2639.999148 : TerrainNav update at dvl time = 2639.999148 : _navData-> (x,y) = (4062807.47, 597714.89) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.14 17.96 3.71 3.83 0 9146.13 06:32:30 m : NMEA Update: $GPGGA,212851.30,3642.3547,N,-12154.3604,W,1,03,00.5,066.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212852.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2640.00 : 3.10 : Estimated East Bias at time = 2640.00 : 6.60 : Estimated Depth Bias at time = 2640.00 : -0.06 : Estimated northing and easting = 4062810.57 : 597721.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212852.30,3642.3540,N,-12154.3609,W,1,03,00.5,066.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212853.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212853.30,3642.3533,N,-12154.3614,W,1,03,00.5,066.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212854.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212854.30,3642.3526,N,-12154.3620,W,1,03,00.5,066.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212855.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212855.30,3642.3520,N,-12154.3626,W,1,03,00.5,064.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212856.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2644.998805 : TerrainNav update at dvl time = 2644.998805 : _navData-> (x,y) = (4062801.15, 597710.94) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212856.30,3642.3514,N,-12154.3633,W,1,03,00.5,066.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212857.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2645.00 : 2.96 : Estimated East Bias at time = 2645.00 : 6.99 : Estimated Depth Bias at time = 2645.00 : -0.06 : Estimated northing and easting = 4062804.11 : 597717.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212857.30,3642.3508,N,-12154.3639,W,1,03,00.5,065.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212858.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212858.30,3642.3501,N,-12154.3645,W,1,03,00.5,065.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212859.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 2691.595613) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2691.595613) Behavior ascend:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 5.41 16.40 3.78 3.82 0 -9416.49 06:32:37 m : NMEA Update: $GPGGA,212859.30,3642.3494,N,-12154.3651,W,1,03,00.5,065.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212900.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212900.30,3642.3486,N,-12154.3654,W,1,03,00.5,066.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212901.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2649.998463 : TerrainNav update at dvl time = 2649.998463 : _navData-> (x,y) = (4062794.76, 597707.03) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.48 17.87 3.71 3.83 0 9145.68 06:32:40 m : NMEA Update: $GPGGA,212901.30,3642.3479,N,-12154.3657,W,1,03,00.5,066.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212902.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2650.00 : 3.77 : Estimated East Bias at time = 2650.00 : 5.93 : Estimated Depth Bias at time = 2650.00 : -0.06 : Estimated northing and easting = 4062798.52 : 597712.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,212902.30,3642.3472,N,-12154.3661,W,1,03,00.5,066.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212903.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212903.30,3642.3465,N,-12154.3666,W,1,03,00.5,066.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212904.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212904.30,3642.3459,N,-12154.3673,W,1,03,00.5,066.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212905.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212905.30,3642.3452,N,-12154.3679,W,1,03,00.5,065.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212906.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2654.998120 : TerrainNav update at dvl time = 2654.998120 : _navData-> (x,y) = (4062788.49, 597703.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212906.30,3642.3446,N,-12154.3686,W,1,03,00.5,065.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212907.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2655.00 : 3.23 : Estimated East Bias at time = 2655.00 : 7.54 : Estimated Depth Bias at time = 2655.00 : -0.06 : Estimated northing and easting = 4062791.72 : 597710.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212907.30,3642.3439,N,-12154.3692,W,1,03,00.5,066.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212908.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212908.30,3642.3432,N,-12154.3697,W,1,03,00.5,067.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212909.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 4.75 16.40 3.77 3.82 0 -9416.84 06:32:47 m : NMEA Update: $GPGGA,212909.30,3642.3426,N,-12154.3702,W,1,03,00.5,067.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212910.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212910.30,3642.3419,N,-12154.3707,W,1,03,00.5,066.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212911.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2659.997778 : TerrainNav update at dvl time = 2659.997778 : _navData-> (x,y) = (4062782.32, 597699.11) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.44 17.96 3.71 3.83 0 9145.39 06:32:50 m : NMEA Update: $GPGGA,212911.30,3642.3412,N,-12154.3713,W,1,03,00.5,067.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212912.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2660.00 : 3.23 : Estimated East Bias at time = 2660.00 : 6.74 : Estimated Depth Bias at time = 2660.00 : -0.05 : Estimated northing and easting = 4062785.55 : 597705.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,212912.30,3642.3405,N,-12154.3718,W,1,03,00.5,068.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212913.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212913.30,3642.3398,N,-12154.3722,W,1,03,00.5,067.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212914.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212914.30,3642.3391,N,-12154.3727,W,1,03,00.5,068.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212915.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212915.30,3642.3385,N,-12154.3732,W,1,03,00.5,068.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212916.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2664.997435 : TerrainNav update at dvl time = 2664.997435 : _navData-> (x,y) = (4062775.85, 597695.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212916.30,3642.3378,N,-12154.3737,W,1,03,00.5,068.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212917.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2665.00 : 3.23 : Estimated East Bias at time = 2665.00 : 6.52 : Estimated Depth Bias at time = 2665.00 : -0.05 : Estimated northing and easting = 4062779.08 : 597702.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212917.30,3642.3371,N,-12154.3743,W,1,03,00.5,068.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212918.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212918.30,3642.3364,N,-12154.3749,W,1,03,00.5,068.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212919.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.38 16.40 3.77 3.82 0 -9417.37 06:32:57 m : NMEA Update: $GPGGA,212919.30,3642.3357,N,-12154.3754,W,1,03,00.5,069.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212920.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212920.30,3642.3350,N,-12154.3759,W,1,03,00.5,069.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2669.997093 : TerrainNav update at dvl time = 2669.997093 : _navData-> (x,y) = (4062769.47, 597691.62) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.64 17.96 3.71 3.83 0 9144.93 06:33:00 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212921.30,3642.3343,N,-12154.3764,W,1,03,00.5,069.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212922.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2670.00 : 3.23 : Estimated East Bias at time = 2670.00 : 6.63 : Estimated Depth Bias at time = 2670.00 : -0.05 : Estimated northing and easting = 4062772.71 : 597698.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,212922.30,3642.3336,N,-12154.3769,W,1,03,00.5,069.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212923.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212923.30,3642.3329,N,-12154.3775,W,1,03,00.5,068.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212924.30,3642.3323,N,-12154.3781,W,1,03,00.5,069.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,212925.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212925.30,3642.3316,N,-12154.3787,W,1,03,00.5,070.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2674.996750 : TerrainNav update at dvl time = 2674.996750 : _navData-> (x,y) = (4062763.08, 597687.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212926.30,3642.3309,N,-12154.3792,W,1,03,00.5,070.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2675.00 : 3.16 : Estimated East Bias at time = 2675.00 : 6.98 : Estimated Depth Bias at time = 2675.00 : -0.05 : Estimated northing and easting = 4062766.25 : 597694.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212927.30,3642.3303,N,-12154.3796,W,1,03,00.5,069.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212928.30,3642.3295,N,-12154.3800,W,1,03,00.5,070.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212929.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 4.89 16.40 3.77 3.82 0 -9417.72 06:33:07 m : NMEA Update: $GPGGA,212929.30,3642.3288,N,-12154.3804,W,1,03,00.5,070.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212930.30,3642.3281,N,-12154.3810,W,1,03,00.5,071.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2679.996408 : TerrainNav update at dvl time = 2679.996408 : _navData-> (x,y) = (4062756.59, 597684.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.48 4.75 17.96 3.71 3.83 0 9144.60 06:33:10 m : NMEA Update: $GPGGA,212931.30,3642.3274,N,-12154.3815,W,1,03,00.5,071.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212932.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2680.00 : 3.67 : Estimated East Bias at time = 2680.00 : 6.59 : Estimated Depth Bias at time = 2680.00 : -0.05 : Estimated northing and easting = 4062760.26 : 597690.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,212932.30,3642.3267,N,-12154.3819,W,1,03,00.5,070.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212933.30,3642.3260,N,-12154.3824,W,1,03,00.5,071.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212934.30,3642.3253,N,-12154.3829,W,1,03,00.5,072.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,212935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212935.30,3642.3246,N,-12154.3834,W,1,03,00.5,072.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2684.996065 : TerrainNav update at dvl time = 2684.996065 : _navData-> (x,y) = (4062750.03, 597680.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212936.30,3642.3239,N,-12154.3838,W,1,03,00.5,072.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : Estimated North Bias at time = 2685.00 : 3.90 : Estimated East Bias at time = 2685.00 : 6.16 : Estimated Depth Bias at time = 2685.00 : -0.05 : Estimated northing and easting = 4062753.92 : 597686.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212937.30,3642.3232,N,-12154.3843,W,1,03,00.5,072.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212938.30,3642.3226,N,-12154.3849,W,1,03,00.5,072.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.93 16.40 3.77 3.82 0 -9418.23 06:33:17 m : NMEA Update: $GPGGA,212939.30,3642.3219,N,-12154.3854,W,1,03,00.5,072.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212940.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,212940.30,3642.3212,N,-12154.3860,W,1,03,00.5,072.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,212941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2689.995723 : TerrainNav update at dvl time = 2689.995723 : _navData-> (x,y) = (4062743.73, 597676.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=3.93 speedMode=1 speed=1.50 : LayeredControl::execute() -- (t = 2734.192695) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2734.192695) Behavior getgps:-1 has changed to state Active : BluefinBatt Reply: $b3q0 d- 30.48 4.14 17.96 3.71 3.83 0 9144.17 06:33:20 m : NMEA Update: $GPGGA,212941.30,3642.3205,N,-12154.3864,W,1,03,00.5,073.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2690.00 : 3.78 : Estimated East Bias at time = 2690.00 : 6.87 : Estimated Depth Bias at time = 2690.00 : -0.05 : Estimated northing and easting = 4062747.51 : 597683.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212942.30,3642.3197,N,-12154.3869,W,1,03,00.5,072.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,212943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212943.30,3642.3190,N,-12154.3874,W,1,03,00.5,073.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,212944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212944.30,3642.3183,N,-12154.3876,W,1,03,00.5,073.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,212945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212945.30,3642.3176,N,-12154.3878,W,1,03,00.5,073.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2694.995380 : TerrainNav update at dvl time = 2694.995380 : _navData-> (x,y) = (4062737.01, 597674.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,212946.30,3642.3169,N,-12154.3880,W,1,03,00.5,073.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,212947.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 2695.00 : 3.84 : Estimated East Bias at time = 2695.00 : 5.94 : Estimated Depth Bias at time = 2695.00 : -0.05 : Estimated northing and easting = 4062740.85 : 597680.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212947.30,3642.3163,N,-12154.3881,W,1,03,00.5,074.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,212948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212948.30,3642.3157,N,-12154.3879,W,1,03,00.5,073.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.49 2.30 16.40 3.77 3.82 0 -9418.50 06:33:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212949.30,3642.3151,N,-12154.3879,W,1,03,00.5,073.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212950.30,3642.3146,N,-12154.3879,W,1,03,00.5,074.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2699.995038 : TerrainNav update at dvl time = 2699.995038 : _navData-> (x,y) = (4062731.57, 597674.45) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 1.14 17.96 3.71 3.83 0 9144.12 06:33:30 m : NMEA Update: $GPGGA,212951.30,3642.3140,N,-12154.3879,W,1,03,00.5,072.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,212952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2700.00 : 2.57 : Estimated East Bias at time = 2700.00 : 4.34 : Estimated Depth Bias at time = 2700.00 : -0.05 : Estimated northing and easting = 4062734.14 : 597678.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,212952.30,3642.3134,N,-12154.3882,W,1,03,00.5,073.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,212953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,212953.30,3642.3128,N,-12154.3883,W,1,03,00.5,075.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,212954.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212954.30,3642.3124,N,-12154.3881,W,1,03,00.5,073.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,212955.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212955.30,3642.3121,N,-12154.3876,W,1,03,00.5,075.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,212956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2704.994695 : TerrainNav update at dvl time = 2704.994695 : _navData-> (x,y) = (4062727.22, 597675.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212956.30,3642.3118,N,-12154.3871,W,1,03,00.5,074.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,212957.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2704.99 : 1.78 : Estimated East Bias at time = 2704.99 : 3.36 : Estimated Depth Bias at time = 2704.99 : -0.05 : Estimated northing and easting = 4062729.00 : 597678.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,212957.31,3642.3114,N,-12154.3866,W,1,03,00.5,074.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,212958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212958.31,3642.3110,N,-12154.3863,W,1,03,00.5,073.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,212959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.57 1.41 16.40 3.77 3.82 0 -9418.70 06:33:37 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,212959.31,3642.3106,N,-12154.3860,W,1,03,00.5,074.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213000.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213000.31,3642.3102,N,-12154.3858,W,1,03,00.5,073.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213001.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 2709.994353 : TerrainNav update at dvl time = 2709.994353 : _navData-> (x,y) = (4062723.65, 597677.78) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.67 1.44 17.87 3.74 3.84 0 9144.01 06:33:40 m : NMEA Update: $GPGGA,213001.31,3642.3099,N,-12154.3856,W,1,03,00.5,073.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213002.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 2709.99 : 2.12 : Estimated East Bias at time = 2709.99 : 5.12 : Estimated Depth Bias at time = 2709.99 : -0.05 : Estimated northing and easting = 4062725.77 : 597682.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.755000 : NMEA Update: $GPGGA,213002.31,3642.3096,N,-12154.3853,W,1,03,00.5,075.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213003.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213003.31,3642.3093,N,-12154.3848,W,1,03,00.5,074.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213004.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213004.31,3642.3091,N,-12154.3847,W,1,03,00.5,073.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213005.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213005.31,3642.3089,N,-12154.3845,W,1,03,00.5,074.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213006.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2714.994010 : TerrainNav update at dvl time = 2714.994010 : _navData-> (x,y) = (4062721.25, 597679.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213006.31,3642.3086,N,-12154.3843,W,1,03,00.5,073.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213007.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2714.99 : 1.93 : Estimated East Bias at time = 2714.99 : 4.66 : Estimated Depth Bias at time = 2714.99 : -0.05 : Estimated northing and easting = 4062723.18 : 597684.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213007.31,3642.3083,N,-12154.3839,W,1,03,00.5,075.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213008.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213008.31,3642.3081,N,-12154.3835,W,1,03,00.5,073.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213009.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 2.00 16.40 3.80 3.84 0 -9418.83 06:33:47 m : NMEA Update: $GPGGA,213009.31,3642.3080,N,-12154.3832,W,1,03,00.5,076.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213010.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213010.31,3642.3078,N,-12154.3828,W,1,03,00.5,073.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213011.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2719.993668 : TerrainNav update at dvl time = 2719.993668 : _navData-> (x,y) = (4062719.32, 597682.30) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.71 0.91 17.87 3.74 3.84 0 9143.95 06:33:50 m : NMEA Update: $GPGGA,213011.31,3642.3075,N,-12154.3826,W,1,03,00.5,075.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213012.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 2719.99 : 1.44 : Estimated East Bias at time = 2719.99 : 3.70 : Estimated Depth Bias at time = 2719.99 : -0.05 : Estimated northing and easting = 4062720.76 : 597686.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : NMEA Update: $GPGGA,213012.31,3642.3072,N,-12154.3823,W,1,03,00.5,078.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213013.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213013.31,3642.3070,N,-12154.3821,W,1,03,00.5,075.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213014.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213014.31,3642.3069,N,-12154.3818,W,1,03,00.5,074.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213015.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213015.31,3642.3067,N,-12154.3815,W,1,03,00.5,075.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213016.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2724.993325 : TerrainNav update at dvl time = 2724.993325 : _navData-> (x,y) = (4062717.44, 597684.26) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213016.31,3642.3066,N,-12154.3814,W,1,03,00.5,074.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213017.00,3642.33972,N,12154.44516,W,1,09,1.0,-5.42,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : Estimated North Bias at time = 2724.99 : 0.66 : Estimated East Bias at time = 2724.99 : 3.40 : Estimated Depth Bias at time = 2724.99 : -0.05 : Estimated northing and easting = 4062718.10 : 597687.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213017.31,3642.3397,N,-12154.4451,W,1,03,00.5,075.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213018.00,3642.33938,N,12154.44452,W,1,09,1.0,-5.02,M,-32.59,M,,*74 : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,213018.31,3642.3393,N,-12154.4444,W,1,03,00.5,076.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213019.00,3642.33915,N,12154.44378,W,1,09,1.0,-4.62,M,-32.59,M,,*72 : 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 : BluefinBatt Reply: $aaq0 d- 30.57 1.70 16.40 3.80 3.84 0 -9419.01 06:33:57 m : NMEA Update: $GPGGA,213019.31,3642.3391,N,-12154.4437,W,1,03,00.5,076.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213020.00,3642.33888,N,12154.44320,W,1,09,1.0,-4.62,M,-32.59,M,,*70 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213020.31,3642.3389,N,-12154.4431,W,1,03,00.5,074.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213021.00,3642.33879,N,12154.44281,W,1,11,0.9,-5.00,M,-32.59,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : TerrainNav update at nav time = 2730.002982 : TerrainNav update at dvl time = 2730.002982 : _navData-> (x,y) = (4062775.75, 597592.30) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2730.00 : 0.63 : Estimated East Bias at time = 2730.00 : 3.48 : Estimated Depth Bias at time = 2730.00 : -0.05 : Estimated northing and easting = 4062776.38 : 597595.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 1.10 17.87 3.74 3.85 0 9143.85 06:34:00 m : NMEA Update: $GPGGA,213021.31,3642.3388,N,-12154.4428,W,1,03,00.5,074.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213022.00,3642.33863,N,12154.44263,W,1,11,0.9,-5.16,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : NMEA Update: $GPGGA,213022.31,3642.3386,N,-12154.4426,W,1,03,00.5,073.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213023.00,3642.33842,N,12154.44247,W,1,11,0.9,-5.25,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213023.31,3642.3384,N,-12154.4424,W,1,03,00.5,074.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213024.00,3642.33844,N,12154.44228,W,1,11,0.9,-5.64,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213024.31,3642.3384,N,-12154.4422,W,1,03,00.5,074.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213025.00,3642.33833,N,12154.44227,W,1,11,0.9,-5.45,M,-32.59,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,213025.31,3642.3383,N,-12154.4423,W,1,03,00.5,074.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213026.00,3642.33834,N,12154.44200,W,1,11,0.9,-5.18,M,-32.59,M,,*7F : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 2778.599653) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2778.599653) Behavior descend:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2735.002640 : TerrainNav update at dvl time = 2735.002640 : _navData-> (x,y) = (4062774.97, 597593.38) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2735.00 : 0.58 : Estimated East Bias at time = 2735.00 : 3.47 : Estimated Depth Bias at time = 2735.00 : -0.06 : Estimated northing and easting = 4062775.56 : 597596.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213026.31,3642.3383,N,-12154.4420,W,1,03,00.5,076.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213027.00,3642.33794,N,12154.44192,W,1,11,0.9,-4.66,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213027.31,3642.3379,N,-12154.4419,W,1,03,00.5,074.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213028.00,3642.33793,N,12154.44122,W,1,11,0.9,-4.05,M,-32.59,M,,*7D : NMEA Update: $GPGGA,213028.31,3642.3379,N,-12154.4412,W,1,03,00.5,074.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213029.00,3642.33761,N,12154.44085,W,1,11,0.9,-4.25,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.45 3.97 16.40 3.80 3.84 0 -9419.13 06:34:07 m : NMEA Update: $GPGGA,213029.31,3642.3375,N,-12154.4407,W,1,03,00.5,074.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213030.00,3642.33736,N,12154.44027,W,1,11,0.9,-4.33,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213030.31,3642.3373,N,-12154.4402,W,1,03,00.5,073.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213031.00,3642.33721,N,12154.43953,W,1,11,0.9,-4.28,M,-32.59,M,,*7A : TerrainNav update at nav time = 2740.002297 : TerrainNav update at dvl time = 2740.002297 : _navData-> (x,y) = (4062772.81, 597597.21) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2740.00 : 0.59 : Estimated East Bias at time = 2740.00 : 3.51 : Estimated Depth Bias at time = 2740.00 : -0.06 : Estimated northing and easting = 4062773.40 : 597600.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.29 17.87 3.74 3.85 0 9143.72 06:34:10 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213031.31,3642.3372,N,-12154.4394,W,1,03,00.5,078.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213032.00,3642.33687,N,12154.43909,W,1,11,0.9,-4.99,M,-32.59,M,,*71 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : NMEA Update: $GPGGA,213032.31,3642.3368,N,-12154.4390,W,1,03,00.5,074.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213033.00,3642.33678,N,12154.43874,W,1,11,0.9,-4.95,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213033.31,3642.3368,N,-12154.4387,W,1,03,00.5,075.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213034.00,3642.33651,N,12154.43844,W,1,11,0.9,-5.08,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213034.31,3642.3364,N,-12154.4384,W,1,03,00.5,076.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213035.00,3642.33611,N,12154.43792,W,1,11,0.9,-5.06,M,-32.59,M,,*72 : NMEA Update: $GPGGA,213035.31,3642.3360,N,-12154.4378,W,1,03,00.5,073.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213036.00,3642.33574,N,12154.43756,W,1,11,0.9,-5.02,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2745.001955 : TerrainNav update at dvl time = 2745.001955 : _navData-> (x,y) = (4062770.13, 597600.15) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2745.00 : 0.57 : Estimated East Bias at time = 2745.00 : 3.52 : Estimated Depth Bias at time = 2745.00 : -0.06 : Estimated northing and easting = 4062770.69 : 597603.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213036.31,3642.3357,N,-12154.4375,W,1,03,00.5,074.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213037.00,3642.33547,N,12154.43720,W,1,11,0.9,-4.91,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213037.31,3642.3354,N,-12154.4372,W,1,03,00.5,075.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213038.00,3642.33505,N,12154.43671,W,1,11,0.9,-4.50,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213038.31,3642.3349,N,-12154.4367,W,1,03,00.5,075.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213039.00,3642.33454,N,12154.43604,W,1,11,0.9,-4.42,M,-32.59,M,,*72 : BluefinBatt Reply: $aaq0 d- 30.41 4.00 16.40 3.80 3.84 0 -9419.57 06:34:17 m : NMEA Update: $GPGGA,213039.31,3642.3344,N,-12154.4359,W,1,03,00.5,075.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213040.00,3642.33413,N,12154.43564,W,1,11,0.9,-4.67,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213040.31,3642.3340,N,-12154.4355,W,1,03,00.5,074.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213041.00,3642.33383,N,12154.43512,W,1,11,0.9,-4.64,M,-32.59,M,,*70 : TerrainNav update at nav time = 2750.001612 : TerrainNav update at dvl time = 2750.001612 : _navData-> (x,y) = (4062766.68, 597603.76) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2750.00 : 0.58 : Estimated East Bias at time = 2750.00 : 3.51 : Estimated Depth Bias at time = 2750.00 : -0.06 : Estimated northing and easting = 4062767.26 : 597607.27 : BluefinBatt Reply: $b3q0 d- 30.52 4.25 17.77 3.72 3.83 0 9143.35 06:34:20 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213041.31,3642.3337,N,-12154.4351,W,1,03,00.5,077.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213042.00,3642.33341,N,12154.43463,W,1,11,0.9,-4.84,M,-32.59,M,,*74 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.760000 : NMEA Update: $GPGGA,213042.31,3642.3333,N,-12154.4346,W,1,03,00.5,075.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213043.00,3642.33289,N,12154.43411,W,1,11,0.9,-5.14,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213043.31,3642.3328,N,-12154.4341,W,1,03,00.5,075.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213044.00,3642.33242,N,12154.43387,W,1,11,0.9,-5.84,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213044.31,3642.3323,N,-12154.4338,W,1,03,00.5,074.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213045.00,3642.33203,N,12154.43401,W,1,10,0.9,-5.86,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213045.31,3642.3320,N,-12154.4341,W,1,03,00.5,072.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213046.00,3642.33139,N,12154.43402,W,1,11,0.9,-4.90,M,-32.59,M,,*7F : TerrainNav update at nav time = 2755.001270 : TerrainNav update at dvl time = 2755.001270 : _navData-> (x,y) = (4062762.17, 597605.36) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2755.00 : 0.59 : Estimated East Bias at time = 2755.00 : 3.49 : Estimated Depth Bias at time = 2755.00 : -0.06 : Estimated northing and easting = 4062762.76 : 597608.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213046.31,3642.3313,N,-12154.4340,W,1,03,00.5,076.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213047.00,3642.33080,N,12154.43380,W,1,11,0.9,-4.49,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213047.31,3642.3307,N,-12154.4338,W,1,03,00.5,074.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213048.00,,,,,0,01,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213048.31,3642.3302,N,-12154.4337,W,1,03,00.5,076.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213049.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.16 16.40 3.78 3.83 0 -9419.88 06:34:27 m : NMEA Update: $GPGGA,213049.31,3642.3296,N,-12154.4334,W,1,03,00.5,075.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213050.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213050.31,3642.3290,N,-12154.4332,W,1,03,00.5,076.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213051.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2760.000927 : TerrainNav update at dvl time = 2760.000927 : _navData-> (x,y) = (4062757.28, 597606.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 5.93 17.87 3.72 3.83 0 9143.08 06:34:30 m : NMEA Update: $GPGGA,213051.31,3642.3282,N,-12154.4330,W,1,03,00.5,075.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213052.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2760.00 : 2.69 : Estimated East Bias at time = 2760.00 : 0.54 : Estimated Depth Bias at time = 2760.00 : -0.06 : Estimated northing and easting = 4062759.97 : 597607.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213052.31,3642.3275,N,-12154.4330,W,1,03,00.5,074.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213053.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213053.31,3642.3270,N,-12154.4332,W,1,03,00.5,073.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213054.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213054.31,3642.3265,N,-12154.4338,W,1,03,00.5,073.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213055.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213055.31,3642.3260,N,-12154.4344,W,1,03,00.5,072.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213056.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2765.000585 : TerrainNav update at dvl time = 2765.000585 : _navData-> (x,y) = (4062752.01, 597604.50) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213056.31,3642.3256,N,-12154.4351,W,1,03,00.5,072.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213057.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2765.00 : 1.31 : Estimated East Bias at time = 2765.00 : 4.34 : Estimated Depth Bias at time = 2765.00 : -0.06 : Estimated northing and easting = 4062753.32 : 597608.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213057.31,3642.3252,N,-12154.4357,W,1,03,00.5,072.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213058.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213058.31,3642.3248,N,-12154.4361,W,1,03,00.5,073.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213059.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.12 16.40 3.78 3.83 0 -9420.40 06:34:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213059.31,3642.3245,N,-12154.4364,W,1,03,00.5,072.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213100.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213100.31,3642.3241,N,-12154.4367,W,1,03,00.5,074.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213101.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2770.000242 : TerrainNav update at dvl time = 2770.000242 : _navData-> (x,y) = (4062748.60, 597601.36) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.86 17.77 3.71 3.83 0 9142.53 06:34:40 m : NMEA Update: $GPGGA,213101.31,3642.3239,N,-12154.4372,W,1,03,00.5,073.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213102.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2770.00 : 0.77 : Estimated East Bias at time = 2770.00 : 2.70 : Estimated Depth Bias at time = 2770.00 : -0.05 : Estimated northing and easting = 4062749.37 : 597604.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,213102.31,3642.3236,N,-12154.4377,W,1,03,00.5,071.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213103.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213103.31,3642.3234,N,-12154.4384,W,1,03,00.5,072.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213104.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213104.31,3642.3233,N,-12154.4391,W,1,03,00.5,071.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213105.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213105.31,3642.3232,N,-12154.4398,W,1,03,00.5,072.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213106.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2774.999900 : TerrainNav update at dvl time = 2774.999900 : _navData-> (x,y) = (4062747.04, 597596.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213106.31,3642.3232,N,-12154.4404,W,1,03,00.5,072.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213107.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2775.00 : 0.06 : Estimated East Bias at time = 2775.00 : 3.61 : Estimated Depth Bias at time = 2775.00 : -0.06 : Estimated northing and easting = 4062747.09 : 597600.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213107.31,3642.3232,N,-12154.4411,W,1,03,00.5,072.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213108.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213108.31,3642.3231,N,-12154.4418,W,1,03,00.5,071.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213109.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.71 16.40 3.77 3.82 0 -9420.78 06:34:47 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213109.31,3642.3229,N,-12154.4426,W,1,03,00.5,071.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213110.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213110.31,3642.3227,N,-12154.4435,W,1,03,00.5,071.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213111.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2779.999557 : TerrainNav update at dvl time = 2779.999557 : _navData-> (x,y) = (4062745.90, 597590.99) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 5.74 17.77 3.71 3.83 0 9142.17 06:34:50 m : NMEA Update: $GPGGA,213111.30,3642.3226,N,-12154.4443,W,1,03,00.5,070.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213112.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2780.00 : 1.08 : Estimated East Bias at time = 2780.00 : 4.98 : Estimated Depth Bias at time = 2780.00 : -0.06 : Estimated northing and easting = 4062746.98 : 597595.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213112.30,3642.3225,N,-12154.4450,W,1,03,00.5,070.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213113.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213113.30,3642.3225,N,-12154.4457,W,1,03,00.5,070.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213114.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213114.30,3642.3225,N,-12154.4464,W,1,03,00.5,070.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213115.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213115.30,3642.3224,N,-12154.4471,W,1,03,00.5,070.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213116.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2784.999215 : TerrainNav update at dvl time = 2784.999215 : _navData-> (x,y) = (4062745.26, 597585.60) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213116.30,3642.3222,N,-12154.4480,W,1,03,00.5,071.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213117.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2785.00 : 0.07 : Estimated East Bias at time = 2785.00 : 3.87 : Estimated Depth Bias at time = 2785.00 : -0.06 : Estimated northing and easting = 4062745.33 : 597589.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213117.30,3642.3220,N,-12154.4490,W,1,03,00.5,069.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213118.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213118.30,3642.3219,N,-12154.4499,W,1,03,00.5,068.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213119.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.34 16.40 3.77 3.82 0 -9421.31 06:34:57 m : NMEA Update: $GPGGA,213119.30,3642.3218,N,-12154.4506,W,1,03,00.5,069.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213120.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213120.30,3642.3217,N,-12154.4514,W,1,03,00.5,069.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213121.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2789.998872 : TerrainNav update at dvl time = 2789.998872 : _navData-> (x,y) = (4062743.95, 597579.30) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.71 17.87 3.71 3.82 0 9141.68 06:35:00 m : NMEA Update: $GPGGA,213121.30,3642.3216,N,-12154.4522,W,1,03,00.5,069.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213122.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2790.00 : -0.33 : Estimated East Bias at time = 2790.00 : 3.33 : Estimated Depth Bias at time = 2790.00 : -0.05 : Estimated northing and easting = 4062743.62 : 597582.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213122.30,3642.3214,N,-12154.4532,W,1,03,00.5,068.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213123.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213123.30,3642.3213,N,-12154.4542,W,1,03,00.5,068.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213124.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213124.30,3642.3212,N,-12154.4550,W,1,03,00.5,068.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213125.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213125.30,3642.3211,N,-12154.4558,W,1,03,00.5,067.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213126.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2794.998530 : TerrainNav update at dvl time = 2794.998530 : _navData-> (x,y) = (4062742.76, 597572.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213126.30,3642.3210,N,-12154.4566,W,1,03,00.5,069.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213127.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2795.00 : -0.24 : Estimated East Bias at time = 2795.00 : 3.76 : Estimated Depth Bias at time = 2795.00 : -0.06 : Estimated northing and easting = 4062742.53 : 597576.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : Descend::execute() - Descend terminating on depth 8.137172 > 8.000000 at time 2840.195433 : LayeredControl::execute() -- (t = 2840.195433) Behavior descend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2840.195433) Behavior setpoint:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213127.30,3642.3209,N,-12154.4574,W,1,03,00.5,068.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213128.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213128.30,3642.3208,N,-12154.4583,W,1,03,00.5,068.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213129.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.08 16.40 3.77 3.82 0 -9421.69 06:35:07 m : NMEA Update: $GPGGA,213129.30,3642.3207,N,-12154.4592,W,1,03,00.5,067.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213130.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213130.30,3642.3206,N,-12154.4602,W,1,03,00.5,067.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213131.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2799.998187 : TerrainNav update at dvl time = 2799.998187 : _navData-> (x,y) = (4062741.67, 597566.12) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.71 17.87 3.71 3.82 0 9141.39 06:35:10 m : NMEA Update: $GPGGA,213131.30,3642.3204,N,-12154.4612,W,1,03,00.5,067.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213132.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2800.00 : 0.02 : Estimated East Bias at time = 2800.00 : 4.41 : Estimated Depth Bias at time = 2800.00 : -0.06 : Estimated northing and easting = 4062741.69 : 597570.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213132.30,3642.3202,N,-12154.4621,W,1,03,00.5,067.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213133.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213133.30,3642.3201,N,-12154.4630,W,1,03,00.5,066.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213134.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213134.30,3642.3200,N,-12154.4639,W,1,03,00.5,067.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213135.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213135.30,3642.3199,N,-12154.4647,W,1,03,00.5,067.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213136.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2804.997845 : TerrainNav update at dvl time = 2804.997845 : _navData-> (x,y) = (4062740.34, 597559.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213136.30,3642.3197,N,-12154.4656,W,1,03,00.5,067.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213137.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2805.00 : -0.19 : Estimated East Bias at time = 2805.00 : 3.82 : Estimated Depth Bias at time = 2805.00 : -0.06 : Estimated northing and easting = 4062740.15 : 597563.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213137.30,3642.3195,N,-12154.4665,W,1,03,00.5,067.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213138.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213138.30,3642.3194,N,-12154.4674,W,1,03,00.5,067.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213139.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 5.41 16.40 3.77 3.82 0 -9422.20 06:35:17 m : NMEA Update: $GPGGA,213139.30,3642.3192,N,-12154.4683,W,1,03,00.5,067.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213140.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213140.30,3642.3191,N,-12154.4693,W,1,03,00.5,067.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213141.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2809.997502 : TerrainNav update at dvl time = 2809.997502 : _navData-> (x,y) = (4062738.90, 597552.55) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.48 17.96 3.71 3.82 0 9140.86 06:35:20 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213141.30,3642.3190,N,-12154.4703,W,1,03,00.5,067.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213142.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2810.00 : -0.46 : Estimated East Bias at time = 2810.00 : 4.36 : Estimated Depth Bias at time = 2810.00 : -0.06 : Estimated northing and easting = 4062738.44 : 597556.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213142.30,3642.3189,N,-12154.4712,W,1,03,00.5,066.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213143.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213143.30,3642.3188,N,-12154.4722,W,1,03,00.5,067.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213144.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213144.30,3642.3187,N,-12154.4730,W,1,03,00.5,066.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213145.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213145.30,3642.3186,N,-12154.4739,W,1,03,00.5,067.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213146.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2814.997159 : TerrainNav update at dvl time = 2814.997159 : _navData-> (x,y) = (4062737.94, 597545.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213146.30,3642.3186,N,-12154.4748,W,1,03,00.5,067.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213147.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2815.00 : -0.54 : Estimated East Bias at time = 2815.00 : 3.81 : Estimated Depth Bias at time = 2815.00 : -0.05 : Estimated northing and easting = 4062737.40 : 597549.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213147.30,3642.3185,N,-12154.4756,W,1,03,00.5,067.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213148.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213148.30,3642.3184,N,-12154.4765,W,1,03,00.5,066.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213149.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.04 16.40 3.77 3.82 0 -9422.54 06:35:27 m : NMEA Update: $GPGGA,213149.30,3642.3182,N,-12154.4774,W,1,03,00.5,067.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213150.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213150.30,3642.3180,N,-12154.4784,W,1,03,00.5,066.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213151.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2819.996817 : TerrainNav update at dvl time = 2819.996817 : _navData-> (x,y) = (4062736.71, 597539.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.41 17.87 3.71 3.82 0 9140.56 06:35:30 m : NMEA Update: $GPGGA,213151.30,3642.3179,N,-12154.4794,W,1,03,00.5,067.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213152.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2820.00 : 0.21 : Estimated East Bias at time = 2820.00 : 4.28 : Estimated Depth Bias at time = 2820.00 : -0.06 : Estimated northing and easting = 4062736.92 : 597543.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213152.30,3642.3178,N,-12154.4804,W,1,03,00.5,066.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213153.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213153.30,3642.3178,N,-12154.4813,W,1,03,00.5,067.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213154.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213154.30,3642.3177,N,-12154.4823,W,1,03,00.5,066.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213155.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213155.30,3642.3176,N,-12154.4832,W,1,03,00.5,066.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213156.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2824.996475 : TerrainNav update at dvl time = 2824.996475 : _navData-> (x,y) = (4062735.89, 597531.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213156.30,3642.3175,N,-12154.4842,W,1,03,00.5,066.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213157.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2825.00 : -0.49 : Estimated East Bias at time = 2825.00 : 3.90 : Estimated Depth Bias at time = 2825.00 : -0.06 : Estimated northing and easting = 4062735.40 : 597535.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213157.30,3642.3173,N,-12154.4851,W,1,03,00.5,067.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213158.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213158.30,3642.3172,N,-12154.4860,W,1,03,00.5,066.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213159.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.38 16.40 3.77 3.82 0 -9423.06 06:35:37 m : NMEA Update: $GPGGA,213159.30,3642.3170,N,-12154.4868,W,1,03,00.5,067.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213200.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213200.30,3642.3170,N,-12154.4876,W,1,03,00.5,066.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213201.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2829.996132 : TerrainNav update at dvl time = 2829.996132 : _navData-> (x,y) = (4062734.64, 597525.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.52 4.71 17.87 3.71 3.82 0 9140.10 06:35:40 m : NMEA Update: $GPGGA,213201.30,3642.3169,N,-12154.4885,W,1,03,00.5,066.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213202.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2830.00 : -0.80 : Estimated East Bias at time = 2830.00 : 3.19 : Estimated Depth Bias at time = 2830.00 : -0.06 : Estimated northing and easting = 4062733.84 : 597528.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213202.30,3642.3168,N,-12154.4895,W,1,03,00.5,067.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213203.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213203.30,3642.3167,N,-12154.4906,W,1,03,00.5,066.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213204.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213204.30,3642.3165,N,-12154.4917,W,1,03,00.5,066.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213205.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213205.30,3642.3164,N,-12154.4927,W,1,03,00.5,066.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213206.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2834.995790 : TerrainNav update at dvl time = 2834.995790 : _navData-> (x,y) = (4062733.41, 597517.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213206.30,3642.3162,N,-12154.4935,W,1,03,00.5,066.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213207.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2835.00 : -0.34 : Estimated East Bias at time = 2835.00 : 4.42 : Estimated Depth Bias at time = 2835.00 : -0.06 : Estimated northing and easting = 4062733.07 : 597522.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213207.30,3642.3161,N,-12154.4944,W,1,03,00.5,066.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213208.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213208.30,3642.3160,N,-12154.4953,W,1,03,00.5,067.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213209.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.12 16.50 3.77 3.82 0 -9423.40 06:35:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213209.30,3642.3159,N,-12154.4962,W,1,03,00.5,066.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213210.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213210.30,3642.3158,N,-12154.4972,W,1,03,00.5,067.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213211.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2839.995447 : TerrainNav update at dvl time = 2839.995447 : _navData-> (x,y) = (4062732.38, 597511.15) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 5.17 17.87 3.71 3.82 0 9139.81 06:35:50 m : NMEA Update: $GPGGA,213211.30,3642.3157,N,-12154.4981,W,1,03,00.5,066.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213212.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2840.00 : -0.60 : Estimated East Bias at time = 2840.00 : 4.73 : Estimated Depth Bias at time = 2840.00 : -0.06 : Estimated northing and easting = 4062731.77 : 597515.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213212.30,3642.3156,N,-12154.4990,W,1,03,00.5,067.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213213.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213213.30,3642.3155,N,-12154.4999,W,1,03,00.5,067.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213214.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213214.30,3642.3153,N,-12154.5009,W,1,03,00.5,066.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213215.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213215.30,3642.3152,N,-12154.5019,W,1,03,00.5,067.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213216.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2844.995105 : TerrainNav update at dvl time = 2844.995105 : _navData-> (x,y) = (4062731.13, 597504.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213216.30,3642.3151,N,-12154.5028,W,1,03,00.5,066.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213217.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2845.00 : -0.32 : Estimated East Bias at time = 2845.00 : 4.58 : Estimated Depth Bias at time = 2845.00 : -0.06 : Estimated northing and easting = 4062730.81 : 597508.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213217.30,3642.3150,N,-12154.5038,W,1,03,00.5,066.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213218.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213218.30,3642.3149,N,-12154.5047,W,1,03,00.5,066.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213219.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 5.23 16.40 3.77 3.82 0 -9423.93 06:35:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213219.30,3642.3148,N,-12154.5056,W,1,03,00.5,066.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213220.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213220.30,3642.3147,N,-12154.5066,W,1,03,00.5,066.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213221.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2849.994762 : TerrainNav update at dvl time = 2849.994762 : _navData-> (x,y) = (4062730.02, 597497.18) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.44 17.87 3.71 3.82 0 9139.35 06:36:00 m : NMEA Update: $GPGGA,213221.30,3642.3145,N,-12154.5075,W,1,03,00.5,066.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213222.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2849.99 : -0.29 : Estimated East Bias at time = 2849.99 : 4.28 : Estimated Depth Bias at time = 2849.99 : -0.06 : Estimated northing and easting = 4062729.72 : 597501.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213222.30,3642.3144,N,-12154.5085,W,1,03,00.5,066.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213223.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213223.31,3642.3143,N,-12154.5094,W,1,03,00.5,066.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213224.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213224.31,3642.3142,N,-12154.5103,W,1,03,00.5,066.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213225.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213225.31,3642.3141,N,-12154.5111,W,1,03,00.5,066.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213226.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2854.994420 : TerrainNav update at dvl time = 2854.994420 : _navData-> (x,y) = (4062728.86, 597490.46) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213226.31,3642.3139,N,-12154.5120,W,1,03,00.5,066.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213227.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2854.99 : -0.52 : Estimated East Bias at time = 2854.99 : 3.95 : Estimated Depth Bias at time = 2854.99 : -0.06 : Estimated northing and easting = 4062728.34 : 597494.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213227.31,3642.3138,N,-12154.5130,W,1,03,00.5,067.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213228.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213228.31,3642.3136,N,-12154.5140,W,1,03,00.5,066.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213229.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 5.04 16.40 3.77 3.82 0 -9424.27 06:36:07 m : NMEA Update: $GPGGA,213229.31,3642.3135,N,-12154.5150,W,1,03,00.5,067.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213230.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213230.31,3642.3135,N,-12154.5160,W,1,03,00.5,066.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213231.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2859.994077 : TerrainNav update at dvl time = 2859.994077 : _navData-> (x,y) = (4062727.70, 597483.25) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.07 17.96 3.71 3.82 0 9139.04 06:36:10 m : NMEA Update: $GPGGA,213231.31,3642.3134,N,-12154.5169,W,1,03,00.5,066.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213232.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2859.99 : -0.76 : Estimated East Bias at time = 2859.99 : 4.63 : Estimated Depth Bias at time = 2859.99 : -0.06 : Estimated northing and easting = 4062726.94 : 597487.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213232.31,3642.3133,N,-12154.5178,W,1,03,00.5,066.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213233.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213233.31,3642.3132,N,-12154.5188,W,1,03,00.5,066.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213234.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213234.31,3642.3130,N,-12154.5197,W,1,03,00.5,066.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213235.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213235.31,3642.3129,N,-12154.5206,W,1,03,00.5,066.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213236.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2864.993735 : TerrainNav update at dvl time = 2864.993735 : _navData-> (x,y) = (4062726.43, 597476.41) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213236.31,3642.3127,N,-12154.5215,W,1,03,00.5,067.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213237.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2864.99 : -0.18 : Estimated East Bias at time = 2864.99 : 4.66 : Estimated Depth Bias at time = 2864.99 : -0.06 : Estimated northing and easting = 4062726.25 : 597481.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213237.31,3642.3126,N,-12154.5223,W,1,03,00.5,067.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213238.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213238.31,3642.3125,N,-12154.5233,W,1,03,00.5,066.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213239.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 4.75 16.40 3.77 3.82 0 -9424.76 06:36:17 m : NMEA Update: $GPGGA,213239.31,3642.3124,N,-12154.5243,W,1,03,00.5,066.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213240.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213240.31,3642.3123,N,-12154.5254,W,1,03,00.5,066.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213241.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2869.993392 : TerrainNav update at dvl time = 2869.993392 : _navData-> (x,y) = (4062725.27, 597469.23) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 4.10 17.96 3.71 3.82 0 9138.55 06:36:20 m : NMEA Update: $GPGGA,213241.31,3642.3122,N,-12154.5264,W,1,03,00.5,067.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213242.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2869.99 : -0.65 : Estimated East Bias at time = 2869.99 : 5.55 : Estimated Depth Bias at time = 2869.99 : -0.06 : Estimated northing and easting = 4062724.62 : 597474.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213242.31,3642.3121,N,-12154.5273,W,1,03,00.5,066.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213243.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213243.31,3642.3120,N,-12154.5282,W,1,03,00.5,066.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213244.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213244.31,3642.3118,N,-12154.5291,W,1,03,00.5,066.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213245.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213245.31,3642.3117,N,-12154.5300,W,1,03,00.5,066.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213246.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2874.993050 : TerrainNav update at dvl time = 2874.993050 : _navData-> (x,y) = (4062724.08, 597462.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213246.31,3642.3115,N,-12154.5310,W,1,03,00.5,066.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213247.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2874.99 : -0.39 : Estimated East Bias at time = 2874.99 : 5.07 : Estimated Depth Bias at time = 2874.99 : -0.06 : Estimated northing and easting = 4062723.69 : 597467.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213247.31,3642.3114,N,-12154.5318,W,1,03,00.5,067.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213248.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213248.31,3642.3113,N,-12154.5327,W,1,03,00.5,067.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213249.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 5.23 16.40 3.77 3.82 0 -9425.10 06:36:27 m : NMEA Update: $GPGGA,213249.31,3642.3112,N,-12154.5336,W,1,03,00.5,067.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213250.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213250.31,3642.3110,N,-12154.5346,W,1,03,00.5,066.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213251.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2880.002706 : TerrainNav update at dvl time = 2880.002706 : _navData-> (x,y) = (4062722.82, 597455.50) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.29 17.87 3.71 3.82 0 9138.22 06:36:30 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213251.31,3642.3109,N,-12154.5356,W,1,03,00.5,066.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213252.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2880.00 : -0.66 : Estimated East Bias at time = 2880.00 : 5.25 : Estimated Depth Bias at time = 2880.00 : -0.06 : Estimated northing and easting = 4062722.15 : 597460.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213252.31,3642.3108,N,-12154.5367,W,1,03,00.5,066.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213253.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213253.31,3642.3106,N,-12154.5378,W,1,03,00.5,066.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213254.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213254.31,3642.3106,N,-12154.5387,W,1,03,00.5,066.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213255.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213255.31,3642.3105,N,-12154.5396,W,1,03,00.5,066.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213256.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2885.002364 : TerrainNav update at dvl time = 2885.002364 : _navData-> (x,y) = (4062721.77, 597448.14) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213256.31,3642.3104,N,-12154.5404,W,1,03,00.5,066.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213257.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2885.00 : -0.99 : Estimated East Bias at time = 2885.00 : 4.92 : Estimated Depth Bias at time = 2885.00 : -0.06 : Estimated northing and easting = 4062720.79 : 597453.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213257.31,3642.3102,N,-12154.5412,W,1,03,00.5,067.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213258.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213258.31,3642.3101,N,-12154.5421,W,1,03,00.5,067.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213259.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 4.60 16.40 3.77 3.82 0 -9425.62 06:36:37 m : NMEA Update: $GPGGA,213259.31,3642.3099,N,-12154.5431,W,1,03,00.5,067.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213300.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213300.31,3642.3098,N,-12154.5441,W,1,03,00.5,066.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213301.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2890.002021 : TerrainNav update at dvl time = 2890.002021 : _navData-> (x,y) = (4062720.34, 597441.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.48 4.07 17.87 3.71 3.83 0 9137.77 06:36:40 m : NMEA Update: $GPGGA,213301.31,3642.3096,N,-12154.5452,W,1,03,00.5,066.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213302.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2890.00 : -0.66 : Estimated East Bias at time = 2890.00 : 5.82 : Estimated Depth Bias at time = 2890.00 : -0.05 : Estimated northing and easting = 4062719.69 : 597447.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213302.31,3642.3095,N,-12154.5463,W,1,03,00.5,066.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213303.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213303.31,3642.3094,N,-12154.5472,W,1,03,00.5,067.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213304.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213304.31,3642.3093,N,-12154.5481,W,1,03,00.5,066.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213305.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213305.31,3642.3092,N,-12154.5489,W,1,03,00.5,067.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213306.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2895.001679 : TerrainNav update at dvl time = 2895.001679 : _navData-> (x,y) = (4062719.16, 597434.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213306.31,3642.3090,N,-12154.5499,W,1,03,00.5,067.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213307.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2895.00 : -0.75 : Estimated East Bias at time = 2895.00 : 4.52 : Estimated Depth Bias at time = 2895.00 : -0.06 : Estimated northing and easting = 4062718.41 : 597438.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213307.31,3642.3089,N,-12154.5508,W,1,03,00.5,066.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213308.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213308.31,3642.3088,N,-12154.5518,W,1,03,00.5,067.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213309.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.86 16.40 3.77 3.82 0 -9425.95 06:36:47 m : NMEA Update: $GPGGA,213309.31,3642.3086,N,-12154.5527,W,1,03,00.5,066.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213310.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213310.31,3642.3085,N,-12154.5536,W,1,03,00.5,067.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213311.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2900.001336 : TerrainNav update at dvl time = 2900.001336 : _navData-> (x,y) = (4062717.87, 597427.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.48 4.56 17.87 3.71 3.83 0 9137.46 06:36:50 m : NMEA Update: $GPGGA,213311.31,3642.3084,N,-12154.5546,W,1,03,00.5,066.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213312.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2900.00 : -0.79 : Estimated East Bias at time = 2900.00 : 4.67 : Estimated Depth Bias at time = 2900.00 : -0.06 : Estimated northing and easting = 4062717.08 : 597431.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213312.31,3642.3083,N,-12154.5555,W,1,03,00.5,067.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213313.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213313.31,3642.3082,N,-12154.5565,W,1,03,00.5,066.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213314.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213314.31,3642.3081,N,-12154.5575,W,1,03,00.5,066.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213315.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213315.31,3642.3080,N,-12154.5584,W,1,03,00.5,067.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213316.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2905.000994 : TerrainNav update at dvl time = 2905.000994 : _navData-> (x,y) = (4062716.86, 597420.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213316.31,3642.3079,N,-12154.5593,W,1,03,00.5,066.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213317.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2905.00 : -0.80 : Estimated East Bias at time = 2905.00 : 4.83 : Estimated Depth Bias at time = 2905.00 : -0.06 : Estimated northing and easting = 4062716.05 : 597425.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213317.31,3642.3077,N,-12154.5602,W,1,03,00.5,066.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213318.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213318.31,3642.3075,N,-12154.5612,W,1,03,00.5,067.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213319.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.23 16.40 3.77 3.82 0 -9426.47 06:36:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213319.31,3642.3074,N,-12154.5621,W,1,03,00.5,067.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213320.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213320.31,3642.3072,N,-12154.5631,W,1,03,00.5,067.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213321.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2910.000651 : TerrainNav update at dvl time = 2910.000651 : _navData-> (x,y) = (4062715.38, 597413.14) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.75 17.96 3.71 3.83 0 9136.99 06:37:00 m : NMEA Update: $GPGGA,213321.31,3642.3072,N,-12154.5641,W,1,03,00.5,067.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213322.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2910.00 : -0.76 : Estimated East Bias at time = 2910.00 : 5.11 : Estimated Depth Bias at time = 2910.00 : -0.06 : Estimated northing and easting = 4062714.62 : 597418.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213322.31,3642.3071,N,-12154.5651,W,1,03,00.5,066.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213323.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213323.31,3642.3070,N,-12154.5661,W,1,03,00.5,067.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213324.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213324.31,3642.3069,N,-12154.5670,W,1,03,00.5,067.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213325.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213325.31,3642.3068,N,-12154.5678,W,1,03,00.5,066.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213326.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2915.000309 : TerrainNav update at dvl time = 2915.000309 : _navData-> (x,y) = (4062714.37, 597406.26) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213326.31,3642.3066,N,-12154.5686,W,1,03,00.5,067.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213327.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2915.00 : -0.70 : Estimated East Bias at time = 2915.00 : 4.31 : Estimated Depth Bias at time = 2915.00 : -0.06 : Estimated northing and easting = 4062713.67 : 597410.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213327.31,3642.3065,N,-12154.5695,W,1,03,00.5,067.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213328.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213328.31,3642.3063,N,-12154.5705,W,1,03,00.5,067.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213329.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.37 4.64 16.40 3.77 3.82 0 -9426.81 06:37:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213329.31,3642.3062,N,-12154.5715,W,1,03,00.5,066.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213330.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213330.31,3642.3060,N,-12154.5727,W,1,03,00.5,066.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213331.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2919.999966 : TerrainNav update at dvl time = 2919.999966 : _navData-> (x,y) = (4062712.92, 597398.90) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.56 17.96 3.71 3.83 0 9136.67 06:37:10 m : NMEA Update: $GPGGA,213331.31,3642.3059,N,-12154.5737,W,1,03,00.5,066.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213332.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2920.00 : -0.67 : Estimated East Bias at time = 2920.00 : 5.67 : Estimated Depth Bias at time = 2920.00 : -0.06 : Estimated northing and easting = 4062712.25 : 597404.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213332.31,3642.3058,N,-12154.5747,W,1,03,00.5,066.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213333.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213333.31,3642.3057,N,-12154.5756,W,1,03,00.5,067.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213334.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213334.31,3642.3056,N,-12154.5764,W,1,03,00.5,067.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213335.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213335.31,3642.3055,N,-12154.5771,W,1,03,00.5,067.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213336.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2924.999624 : TerrainNav update at dvl time = 2924.999624 : _navData-> (x,y) = (4062711.89, 597392.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213336.31,3642.3054,N,-12154.5780,W,1,03,00.5,066.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213337.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2925.00 : -0.79 : Estimated East Bias at time = 2925.00 : 4.23 : Estimated Depth Bias at time = 2925.00 : -0.06 : Estimated northing and easting = 4062711.10 : 597396.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213337.30,3642.3052,N,-12154.5789,W,1,03,00.5,067.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213338.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213338.30,3642.3051,N,-12154.5800,W,1,03,00.5,066.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213339.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 4.89 16.40 3.77 3.82 0 -9427.29 06:37:17 m : NMEA Update: $GPGGA,213339.30,3642.3049,N,-12154.5811,W,1,03,00.5,066.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213340.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213340.30,3642.3048,N,-12154.5823,W,1,03,00.5,066.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213341.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2929.999281 : TerrainNav update at dvl time = 2929.999281 : _navData-> (x,y) = (4062710.62, 597384.65) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.71 17.96 3.71 3.82 0 9136.23 06:37:20 m : NMEA Update: $GPGGA,213341.30,3642.3047,N,-12154.5833,W,1,03,00.5,066.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213342.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2930.00 : -0.99 : Estimated East Bias at time = 2930.00 : 6.08 : Estimated Depth Bias at time = 2930.00 : -0.06 : Estimated northing and easting = 4062709.63 : 597390.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213342.30,3642.3046,N,-12154.5841,W,1,03,00.5,067.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213343.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213343.30,3642.3045,N,-12154.5849,W,1,03,00.5,067.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213344.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213344.30,3642.3043,N,-12154.5857,W,1,03,00.5,067.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213345.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213345.30,3642.3042,N,-12154.5865,W,1,03,00.5,067.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213346.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2934.998939 : TerrainNav update at dvl time = 2934.998939 : _navData-> (x,y) = (4062709.29, 597378.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213346.30,3642.3041,N,-12154.5874,W,1,03,00.5,067.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213347.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2935.00 : -0.71 : Estimated East Bias at time = 2935.00 : 5.07 : Estimated Depth Bias at time = 2935.00 : -0.05 : Estimated northing and easting = 4062708.58 : 597383.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213347.30,3642.3039,N,-12154.5884,W,1,03,00.5,067.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213348.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213348.30,3642.3039,N,-12154.5894,W,1,03,00.5,066.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213349.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.37 5.04 16.50 3.77 3.82 0 -9427.64 06:37:27 m : NMEA Update: $GPGGA,213349.30,3642.3038,N,-12154.5904,W,1,03,00.5,067.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213350.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213350.30,3642.3037,N,-12154.5915,W,1,03,00.5,066.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213351.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2939.998596 : TerrainNav update at dvl time = 2939.998596 : _navData-> (x,y) = (4062708.32, 597371.00) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.48 17.96 3.71 3.82 0 9135.92 06:37:30 m : NMEA Update: $GPGGA,213351.30,3642.3036,N,-12154.5925,W,1,03,00.5,067.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213352.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2940.00 : -1.05 : Estimated East Bias at time = 2940.00 : 5.95 : Estimated Depth Bias at time = 2940.00 : -0.05 : Estimated northing and easting = 4062707.27 : 597376.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213352.30,3642.3035,N,-12154.5934,W,1,03,00.5,067.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213353.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213353.30,3642.3033,N,-12154.5943,W,1,03,00.5,067.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213354.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213354.30,3642.3032,N,-12154.5951,W,1,03,00.5,067.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213355.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213355.30,3642.3030,N,-12154.5960,W,1,03,00.5,067.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213356.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2944.998254 : TerrainNav update at dvl time = 2944.998254 : _navData-> (x,y) = (4062706.96, 597364.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213356.30,3642.3029,N,-12154.5969,W,1,03,00.5,067.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213357.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2945.00 : -0.74 : Estimated East Bias at time = 2945.00 : 5.21 : Estimated Depth Bias at time = 2945.00 : -0.05 : Estimated northing and easting = 4062706.21 : 597369.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213357.30,3642.3027,N,-12154.5978,W,1,03,00.5,067.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213358.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213358.30,3642.3026,N,-12154.5988,W,1,03,00.5,067.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213359.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 5.45 16.40 3.77 3.82 0 -9428.16 06:37:37 m : NMEA Update: $GPGGA,213359.30,3642.3025,N,-12154.5997,W,1,03,00.5,067.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213400.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213400.30,3642.3025,N,-12154.6008,W,1,03,00.5,067.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213401.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2949.997911 : TerrainNav update at dvl time = 2949.997911 : _navData-> (x,y) = (4062705.90, 597357.18) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.14 17.87 3.71 3.82 0 9135.46 06:37:40 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213401.30,3642.3024,N,-12154.6018,W,1,03,00.5,066.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213402.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2950.00 : -1.25 : Estimated East Bias at time = 2950.00 : 5.84 : Estimated Depth Bias at time = 2950.00 : -0.05 : Estimated northing and easting = 4062704.65 : 597363.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213402.30,3642.3023,N,-12154.6028,W,1,03,00.5,067.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213403.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213403.30,3642.3022,N,-12154.6037,W,1,03,00.5,067.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213404.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213404.30,3642.3020,N,-12154.6047,W,1,03,00.5,067.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213405.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213405.30,3642.3019,N,-12154.6055,W,1,03,00.5,067.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213406.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2954.997569 : TerrainNav update at dvl time = 2954.997569 : _navData-> (x,y) = (4062704.67, 597350.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213406.30,3642.3017,N,-12154.6064,W,1,03,00.5,067.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213407.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2955.00 : -0.84 : Estimated East Bias at time = 2955.00 : 5.18 : Estimated Depth Bias at time = 2955.00 : -0.06 : Estimated northing and easting = 4062703.83 : 597355.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213407.30,3642.3016,N,-12154.6073,W,1,03,00.5,067.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213408.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213408.30,3642.3014,N,-12154.6082,W,1,03,00.5,067.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213409.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.04 16.40 3.77 3.82 0 -9428.49 06:37:47 m : NMEA Update: $GPGGA,213409.30,3642.3013,N,-12154.6091,W,1,03,00.5,067.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213410.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213410.30,3642.3012,N,-12154.6100,W,1,03,00.5,067.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213411.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2959.997226 : TerrainNav update at dvl time = 2959.997226 : _navData-> (x,y) = (4062703.43, 597343.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 5.01 17.96 3.71 3.82 0 9135.16 06:37:50 m : NMEA Update: $GPGGA,213411.30,3642.3011,N,-12154.6110,W,1,03,00.5,066.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213412.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2960.00 : -1.13 : Estimated East Bias at time = 2960.00 : 5.76 : Estimated Depth Bias at time = 2960.00 : -0.05 : Estimated northing and easting = 4062702.29 : 597349.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213412.30,3642.3010,N,-12154.6120,W,1,03,00.5,066.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213413.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213413.30,3642.3009,N,-12154.6131,W,1,03,00.5,066.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213414.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213414.30,3642.3008,N,-12154.6142,W,1,03,00.5,066.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213415.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213415.30,3642.3007,N,-12154.6151,W,1,03,00.5,067.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213416.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2964.996884 : TerrainNav update at dvl time = 2964.996884 : _navData-> (x,y) = (4062702.32, 597335.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213416.30,3642.3005,N,-12154.6160,W,1,03,00.5,066.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213417.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2965.00 : -1.09 : Estimated East Bias at time = 2965.00 : 6.06 : Estimated Depth Bias at time = 2965.00 : -0.06 : Estimated northing and easting = 4062701.23 : 597341.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213417.30,3642.3004,N,-12154.6168,W,1,03,00.5,066.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213418.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213418.30,3642.3001,N,-12154.6176,W,1,03,00.5,067.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213419.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.12 16.40 3.77 3.82 0 -9429.01 06:37:57 m : NMEA Update: $GPGGA,213419.30,3642.3000,N,-12154.6184,W,1,03,00.5,067.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213420.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213420.30,3642.2999,N,-12154.6193,W,1,03,00.5,067.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213421.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2969.996542 : TerrainNav update at dvl time = 2969.996542 : _navData-> (x,y) = (4062700.84, 597329.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 5.13 17.87 3.71 3.82 0 9134.71 06:38:00 m : NMEA Update: $GPGGA,213421.30,3642.2998,N,-12154.6203,W,1,03,00.5,067.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213422.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2970.00 : -1.04 : Estimated East Bias at time = 2970.00 : 6.16 : Estimated Depth Bias at time = 2970.00 : -0.05 : Estimated northing and easting = 4062699.80 : 597335.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213422.30,3642.2998,N,-12154.6213,W,1,03,00.5,066.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213423.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213423.30,3642.2997,N,-12154.6223,W,1,03,00.5,066.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213424.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213424.30,3642.2996,N,-12154.6233,W,1,03,00.5,067.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213425.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213425.30,3642.2994,N,-12154.6243,W,1,03,00.5,067.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213426.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2974.996199 : TerrainNav update at dvl time = 2974.996199 : _navData-> (x,y) = (4062699.78, 597322.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213426.30,3642.2992,N,-12154.6253,W,1,03,00.5,067.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213427.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2975.00 : -0.37 : Estimated East Bias at time = 2975.00 : 6.58 : Estimated Depth Bias at time = 2975.00 : -0.05 : Estimated northing and easting = 4062699.41 : 597328.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213427.30,3642.2991,N,-12154.6262,W,1,03,00.5,067.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213428.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213428.30,3642.2990,N,-12154.6272,W,1,03,00.5,067.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213429.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.16 16.40 3.77 3.82 0 -9429.36 06:38:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213429.30,3642.2989,N,-12154.6282,W,1,03,00.5,067.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213430.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213430.30,3642.2988,N,-12154.6291,W,1,03,00.5,067.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213431.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2979.995856 : TerrainNav update at dvl time = 2979.995856 : _navData-> (x,y) = (4062698.69, 597315.12) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.25 17.87 3.71 3.82 0 9134.41 06:38:10 m : NMEA Update: $GPGGA,213431.30,3642.2987,N,-12154.6300,W,1,03,00.5,067.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213432.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2980.00 : -1.01 : Estimated East Bias at time = 2980.00 : 6.72 : Estimated Depth Bias at time = 2980.00 : -0.06 : Estimated northing and easting = 4062697.67 : 597321.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213432.30,3642.2986,N,-12154.6308,W,1,03,00.5,067.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213433.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213433.30,3642.2984,N,-12154.6315,W,1,03,00.5,067.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213434.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213434.30,3642.2983,N,-12154.6324,W,1,03,00.5,067.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213435.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213435.30,3642.2982,N,-12154.6333,W,1,03,00.5,066.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213436.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2984.995514 : TerrainNav update at dvl time = 2984.995514 : _navData-> (x,y) = (4062697.35, 597308.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213436.30,3642.2980,N,-12154.6344,W,1,03,00.5,067.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213437.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2985.00 : -0.64 : Estimated East Bias at time = 2985.00 : 6.32 : Estimated Depth Bias at time = 2985.00 : -0.06 : Estimated northing and easting = 4062696.71 : 597315.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213437.30,3642.2979,N,-12154.6355,W,1,03,00.5,066.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213438.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213438.30,3642.2978,N,-12154.6366,W,1,03,00.5,066.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213439.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.19 16.40 3.77 3.82 0 -9429.85 06:38:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213439.30,3642.2977,N,-12154.6376,W,1,03,00.5,067.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213440.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213440.30,3642.2976,N,-12154.6384,W,1,03,00.5,067.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213441.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2989.995171 : TerrainNav update at dvl time = 2989.995171 : _navData-> (x,y) = (4062696.31, 597301.30) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.33 17.87 3.71 3.82 0 9133.99 06:38:20 m : NMEA Update: $GPGGA,213441.30,3642.2975,N,-12154.6393,W,1,03,00.5,067.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213442.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2990.00 : -0.94 : Estimated East Bias at time = 2990.00 : 5.64 : Estimated Depth Bias at time = 2990.00 : -0.06 : Estimated northing and easting = 4062695.37 : 597306.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213442.30,3642.2974,N,-12154.6401,W,1,03,00.5,067.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213443.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213443.30,3642.2972,N,-12154.6410,W,1,03,00.5,067.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213444.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213444.30,3642.2971,N,-12154.6418,W,1,03,00.5,067.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213445.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213445.30,3642.2969,N,-12154.6427,W,1,03,00.5,067.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213446.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2994.994829 : TerrainNav update at dvl time = 2994.994829 : _navData-> (x,y) = (4062694.88, 597294.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213446.30,3642.2968,N,-12154.6436,W,1,03,00.5,067.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213447.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2994.99 : -0.54 : Estimated East Bias at time = 2994.99 : 5.67 : Estimated Depth Bias at time = 2994.99 : -0.06 : Estimated northing and easting = 4062694.34 : 597300.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213447.30,3642.2967,N,-12154.6446,W,1,03,00.5,067.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213448.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213448.30,3642.2967,N,-12154.6456,W,1,03,00.5,067.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213449.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 5.82 16.40 3.77 3.82 0 -9430.21 06:38:27 m : NMEA Update: $GPGGA,213449.31,3642.2966,N,-12154.6466,W,1,03,00.5,066.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213450.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213450.31,3642.2965,N,-12154.6476,W,1,03,00.5,066.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213451.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2999.994486 : TerrainNav update at dvl time = 2999.994486 : _navData-> (x,y) = (4062693.98, 597287.63) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.10 17.96 3.71 3.82 0 9133.68 06:38:30 m : NMEA Update: $GPGGA,213451.31,3642.2963,N,-12154.6485,W,1,03,00.5,066.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213452.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 2999.99 : -0.75 : Estimated East Bias at time = 2999.99 : 6.16 : Estimated Depth Bias at time = 2999.99 : -0.06 : Estimated northing and easting = 4062693.23 : 597293.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213452.31,3642.2962,N,-12154.6494,W,1,03,00.5,067.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213453.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213453.31,3642.2960,N,-12154.6502,W,1,03,00.5,066.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213454.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213454.31,3642.2959,N,-12154.6511,W,1,03,00.5,067.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213455.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213455.31,3642.2958,N,-12154.6520,W,1,03,00.5,067.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213456.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3004.994144 : TerrainNav update at dvl time = 3004.994144 : _navData-> (x,y) = (4062692.70, 597281.09) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213456.31,3642.2957,N,-12154.6530,W,1,03,00.5,067.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213457.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3004.99 : -0.77 : Estimated East Bias at time = 3004.99 : 5.65 : Estimated Depth Bias at time = 3004.99 : -0.05 : Estimated northing and easting = 4062691.93 : 597286.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213457.31,3642.2956,N,-12154.6539,W,1,03,00.5,067.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213458.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213458.31,3642.2955,N,-12154.6549,W,1,03,00.5,066.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213459.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 5.56 16.40 3.77 3.82 0 -9430.76 06:38:37 m : NMEA Update: $GPGGA,213459.31,3642.2953,N,-12154.6558,W,1,03,00.5,067.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213500.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213500.31,3642.2952,N,-12154.6567,W,1,03,00.5,067.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213501.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3009.993801 : TerrainNav update at dvl time = 3009.993801 : _navData-> (x,y) = (4062691.48, 597274.09) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.07 17.87 3.71 3.83 0 9133.21 06:38:40 m : NMEA Update: $GPGGA,213501.31,3642.2951,N,-12154.6576,W,1,03,00.5,067.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213502.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3009.99 : -0.77 : Estimated East Bias at time = 3009.99 : 5.62 : Estimated Depth Bias at time = 3009.99 : -0.05 : Estimated northing and easting = 4062690.71 : 597279.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213502.31,3642.2949,N,-12154.6585,W,1,03,00.5,067.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213503.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213503.31,3642.2948,N,-12154.6594,W,1,03,00.5,067.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213504.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213504.31,3642.2947,N,-12154.6603,W,1,03,00.5,067.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213505.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213505.31,3642.2946,N,-12154.6613,W,1,03,00.5,068.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213506.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3014.993459 : TerrainNav update at dvl time = 3014.993459 : _navData-> (x,y) = (4062690.39, 597267.30) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213506.31,3642.2945,N,-12154.6623,W,1,03,00.5,067.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213507.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3014.99 : -1.05 : Estimated East Bias at time = 3014.99 : 5.78 : Estimated Depth Bias at time = 3014.99 : -0.05 : Estimated northing and easting = 4062689.34 : 597273.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213507.31,3642.2945,N,-12154.6633,W,1,03,00.5,066.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213508.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213508.31,3642.2944,N,-12154.6643,W,1,03,00.5,067.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213509.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 5.08 16.40 3.77 3.82 0 -9431.09 06:38:47 m : NMEA Update: $GPGGA,213509.31,3642.2942,N,-12154.6652,W,1,03,00.5,068.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213510.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213510.31,3642.2941,N,-12154.6660,W,1,03,00.5,067.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213511.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3019.993116 : TerrainNav update at dvl time = 3019.993116 : _navData-> (x,y) = (4062689.29, 597260.33) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.60 17.96 3.71 3.83 0 9132.88 06:38:50 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213511.31,3642.2940,N,-12154.6668,W,1,03,00.5,067.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213512.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3019.99 : -0.73 : Estimated East Bias at time = 3019.99 : 5.03 : Estimated Depth Bias at time = 3019.99 : -0.05 : Estimated northing and easting = 4062688.56 : 597265.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213512.31,3642.2938,N,-12154.6676,W,1,03,00.5,067.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213513.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213513.31,3642.2937,N,-12154.6685,W,1,03,00.5,066.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213514.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213514.31,3642.2935,N,-12154.6695,W,1,03,00.5,067.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213515.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213515.31,3642.2934,N,-12154.6706,W,1,03,00.5,066.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213516.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3025.002773 : TerrainNav update at dvl time = 3025.002773 : _navData-> (x,y) = (4062687.94, 597253.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213516.31,3642.2933,N,-12154.6717,W,1,03,00.5,067.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213517.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3025.00 : -0.65 : Estimated East Bias at time = 3025.00 : 6.44 : Estimated Depth Bias at time = 3025.00 : -0.05 : Estimated northing and easting = 4062687.29 : 597259.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213517.31,3642.2932,N,-12154.6727,W,1,03,00.5,066.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213518.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213518.31,3642.2931,N,-12154.6737,W,1,03,00.5,067.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213519.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.12 16.40 3.77 3.82 0 -9431.60 06:38:57 m : NMEA Update: $GPGGA,213519.31,3642.2931,N,-12154.6745,W,1,03,00.5,068.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213520.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213520.31,3642.2930,N,-12154.6753,W,1,03,00.5,068.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213521.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3030.002431 : TerrainNav update at dvl time = 3030.002431 : _navData-> (x,y) = (4062687.05, 597246.64) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.48 4.07 17.87 3.71 3.82 0 9132.42 06:39:00 m : NMEA Update: $GPGGA,213521.31,3642.2928,N,-12154.6761,W,1,03,00.5,067.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213522.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3030.00 : -1.02 : Estimated East Bias at time = 3030.00 : 4.85 : Estimated Depth Bias at time = 3030.00 : -0.05 : Estimated northing and easting = 4062686.03 : 597251.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213522.31,3642.2927,N,-12154.6769,W,1,03,00.5,066.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213523.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213523.31,3642.2926,N,-12154.6779,W,1,03,00.5,067.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213524.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213524.31,3642.2924,N,-12154.6789,W,1,03,00.5,066.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213525.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213525.31,3642.2923,N,-12154.6800,W,1,03,00.5,066.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213526.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3035.002088 : TerrainNav update at dvl time = 3035.002088 : _navData-> (x,y) = (4062685.67, 597239.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213526.31,3642.2921,N,-12154.6810,W,1,03,00.5,066.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213527.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3035.00 : -0.90 : Estimated East Bias at time = 3035.00 : 5.98 : Estimated Depth Bias at time = 3035.00 : -0.05 : Estimated northing and easting = 4062684.77 : 597245.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213527.31,3642.2920,N,-12154.6821,W,1,03,00.5,067.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213528.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213528.31,3642.2919,N,-12154.6830,W,1,03,00.5,067.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213529.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.12 16.40 3.77 3.82 0 -9431.91 06:39:07 m : NMEA Update: $GPGGA,213529.31,3642.2918,N,-12154.6838,W,1,03,00.5,068.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213530.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213530.31,3642.2918,N,-12154.6847,W,1,03,00.5,068.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213531.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3040.001746 : TerrainNav update at dvl time = 3040.001746 : _navData-> (x,y) = (4062684.79, 597232.64) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.48 4.22 17.96 3.71 3.82 0 9132.11 06:39:10 m : NMEA Update: $GPGGA,213531.31,3642.2917,N,-12154.6855,W,1,03,00.5,068.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213532.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3040.00 : -1.59 : Estimated East Bias at time = 3040.00 : 4.78 : Estimated Depth Bias at time = 3040.00 : -0.05 : Estimated northing and easting = 4062683.20 : 597237.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213532.31,3642.2916,N,-12154.6864,W,1,03,00.5,068.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213533.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213533.31,3642.2914,N,-12154.6873,W,1,03,00.5,067.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213534.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213534.31,3642.2913,N,-12154.6882,W,1,03,00.5,067.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213535.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213535.31,3642.2911,N,-12154.6892,W,1,03,00.5,067.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213536.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3045.001403 : TerrainNav update at dvl time = 3045.001403 : _navData-> (x,y) = (4062683.39, 597225.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213536.31,3642.2910,N,-12154.6902,W,1,03,00.5,067.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213537.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3045.00 : -1.09 : Estimated East Bias at time = 3045.00 : 5.44 : Estimated Depth Bias at time = 3045.00 : -0.05 : Estimated northing and easting = 4062682.30 : 597231.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213537.31,3642.2909,N,-12154.6912,W,1,03,00.5,067.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213538.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213538.31,3642.2908,N,-12154.6922,W,1,03,00.5,067.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213539.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.01 16.40 3.77 3.82 0 -9432.42 06:39:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213539.31,3642.2907,N,-12154.6931,W,1,03,00.5,068.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213540.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213540.31,3642.2906,N,-12154.6940,W,1,03,00.5,068.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213541.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3050.001061 : TerrainNav update at dvl time = 3050.001061 : _navData-> (x,y) = (4062682.33, 597218.75) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.33 17.96 3.71 3.82 0 9131.64 06:39:20 m : NMEA Update: $GPGGA,213541.31,3642.2905,N,-12154.6948,W,1,03,00.5,068.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213542.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3050.00 : -1.22 : Estimated East Bias at time = 3050.00 : 4.97 : Estimated Depth Bias at time = 3050.00 : -0.05 : Estimated northing and easting = 4062681.11 : 597223.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213542.31,3642.2904,N,-12154.6957,W,1,03,00.5,067.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213543.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213543.31,3642.2902,N,-12154.6967,W,1,03,00.5,067.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213544.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213544.31,3642.2901,N,-12154.6977,W,1,03,00.5,067.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213545.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213545.31,3642.2900,N,-12154.6986,W,1,03,00.5,068.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213546.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3055.000718 : TerrainNav update at dvl time = 3055.000718 : _navData-> (x,y) = (4062681.12, 597211.86) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213546.31,3642.2898,N,-12154.6995,W,1,03,00.5,068.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213547.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3055.00 : -0.87 : Estimated East Bias at time = 3055.00 : 5.55 : Estimated Depth Bias at time = 3055.00 : -0.05 : Estimated northing and easting = 4062680.25 : 597217.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213547.31,3642.2897,N,-12154.7004,W,1,03,00.5,067.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213548.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213548.31,3642.2896,N,-12154.7013,W,1,03,00.5,067.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213549.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.45 16.40 3.77 3.82 0 -9432.79 06:39:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213549.31,3642.2895,N,-12154.7022,W,1,03,00.5,067.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213550.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213550.31,3642.2894,N,-12154.7031,W,1,03,00.5,067.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213551.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3060.000376 : TerrainNav update at dvl time = 3060.000376 : _navData-> (x,y) = (4062679.89, 597205.15) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.29 17.96 3.71 3.82 0 9131.32 06:39:30 m : NMEA Update: $GPGGA,213551.31,3642.2892,N,-12154.7041,W,1,03,00.5,067.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213552.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3060.00 : -0.84 : Estimated East Bias at time = 3060.00 : 5.55 : Estimated Depth Bias at time = 3060.00 : -0.05 : Estimated northing and easting = 4062679.05 : 597210.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213552.31,3642.2891,N,-12154.7051,W,1,03,00.5,067.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213553.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213553.31,3642.2890,N,-12154.7061,W,1,03,00.5,067.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213554.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213554.31,3642.2889,N,-12154.7071,W,1,03,00.5,067.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213555.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213555.31,3642.2888,N,-12154.7079,W,1,03,00.5,067.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213556.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3065.000033 : TerrainNav update at dvl time = 3065.000033 : _navData-> (x,y) = (4062678.85, 597198.06) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213556.31,3642.2887,N,-12154.7088,W,1,03,00.5,067.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213557.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3065.00 : -1.19 : Estimated East Bias at time = 3065.00 : 5.24 : Estimated Depth Bias at time = 3065.00 : -0.05 : Estimated northing and easting = 4062677.67 : 597203.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213557.31,3642.2886,N,-12154.7096,W,1,03,00.5,068.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213558.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213558.31,3642.2884,N,-12154.7106,W,1,03,00.5,068.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213559.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 5.08 16.40 3.77 3.82 0 -9433.31 06:39:37 m : NMEA Update: $GPGGA,213559.31,3642.2883,N,-12154.7116,W,1,03,00.5,067.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213600.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213600.31,3642.2881,N,-12154.7127,W,1,03,00.5,067.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213601.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3069.999691 : TerrainNav update at dvl time = 3069.999691 : _navData-> (x,y) = (4062677.51, 597190.84) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.37 17.96 3.71 3.82 0 9130.85 06:39:40 m : NMEA Update: $GPGGA,213601.31,3642.2880,N,-12154.7137,W,1,03,00.5,067.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213602.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3070.00 : -0.75 : Estimated East Bias at time = 3070.00 : 6.23 : Estimated Depth Bias at time = 3070.00 : -0.05 : Estimated northing and easting = 4062676.75 : 597197.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213602.31,3642.2879,N,-12154.7146,W,1,03,00.5,068.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213603.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213603.30,3642.2879,N,-12154.7154,W,1,03,00.5,068.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213604.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213604.30,3642.2878,N,-12154.7162,W,1,03,00.5,067.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213605.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213605.30,3642.2877,N,-12154.7171,W,1,03,00.5,068.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213606.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3074.999348 : TerrainNav update at dvl time = 3074.999348 : _navData-> (x,y) = (4062676.58, 597184.44) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213606.30,3642.2875,N,-12154.7180,W,1,03,00.5,068.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213607.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3075.00 : -1.06 : Estimated East Bias at time = 3075.00 : 5.32 : Estimated Depth Bias at time = 3075.00 : -0.05 : Estimated northing and easting = 4062675.53 : 597189.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213607.30,3642.2874,N,-12154.7190,W,1,03,00.5,067.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213608.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213608.30,3642.2873,N,-12154.7200,W,1,03,00.5,068.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213609.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 4.82 16.40 3.77 3.82 0 -9433.65 06:39:47 m : NMEA Update: $GPGGA,213609.30,3642.2872,N,-12154.7210,W,1,03,00.5,067.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213610.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213610.30,3642.2871,N,-12154.7221,W,1,03,00.5,067.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213611.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3079.999006 : TerrainNav update at dvl time = 3079.999006 : _navData-> (x,y) = (4062675.43, 597176.82) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.41 17.96 3.71 3.82 0 9130.56 06:39:50 m : NMEA Update: $GPGGA,213611.30,3642.2870,N,-12154.7232,W,1,03,00.5,067.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213612.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3080.00 : -1.30 : Estimated East Bias at time = 3080.00 : 6.19 : Estimated Depth Bias at time = 3080.00 : -0.05 : Estimated northing and easting = 4062674.12 : 597183.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213612.30,3642.2869,N,-12154.7242,W,1,03,00.5,067.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213613.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213613.30,3642.2868,N,-12154.7250,W,1,03,00.5,068.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213614.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213614.30,3642.2867,N,-12154.7258,W,1,03,00.5,068.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213615.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213615.30,3642.2865,N,-12154.7266,W,1,03,00.5,068.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213616.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3084.998663 : TerrainNav update at dvl time = 3084.998663 : _navData-> (x,y) = (4062674.30, 597170.40) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213616.30,3642.2864,N,-12154.7273,W,1,03,00.5,068.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213617.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3085.00 : -1.25 : Estimated East Bias at time = 3085.00 : 4.55 : Estimated Depth Bias at time = 3085.00 : -0.05 : Estimated northing and easting = 4062673.05 : 597174.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213617.30,3642.2863,N,-12154.7282,W,1,03,00.5,066.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213618.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213618.30,3642.2862,N,-12154.7292,W,1,03,00.5,067.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213619.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 5.49 16.40 3.77 3.82 0 -9434.17 06:39:57 m : NMEA Update: $GPGGA,213619.30,3642.2861,N,-12154.7302,W,1,03,00.5,067.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213620.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213620.30,3642.2860,N,-12154.7313,W,1,03,00.5,067.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213621.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3089.998321 : TerrainNav update at dvl time = 3089.998321 : _navData-> (x,y) = (4062673.25, 597163.11) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.56 17.96 3.71 3.82 0 9130.09 06:40:00 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213621.30,3642.2859,N,-12154.7324,W,1,03,00.5,067.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213622.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3090.00 : -1.48 : Estimated East Bias at time = 3090.00 : 6.39 : Estimated Depth Bias at time = 3090.00 : -0.05 : Estimated northing and easting = 4062671.76 : 597169.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213622.30,3642.2857,N,-12154.7335,W,1,03,00.5,067.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213623.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213623.30,3642.2856,N,-12154.7345,W,1,03,00.5,067.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213624.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213624.30,3642.2855,N,-12154.7354,W,1,03,00.5,068.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213625.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213625.30,3642.2854,N,-12154.7362,W,1,03,00.5,068.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213626.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3094.997978 : TerrainNav update at dvl time = 3094.997978 : _navData-> (x,y) = (4062672.00, 597156.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213626.30,3642.2853,N,-12154.7370,W,1,03,00.5,068.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213627.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3095.00 : -1.51 : Estimated East Bias at time = 3095.00 : 5.03 : Estimated Depth Bias at time = 3095.00 : -0.05 : Estimated northing and easting = 4062670.49 : 597161.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 3140.394868) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 3140.394868) Behavior ascend:-1 has changed to state Active : NMEA Update: $GPGGA,213627.30,3642.2851,N,-12154.7378,W,1,03,00.5,068.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213628.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213628.30,3642.2850,N,-12154.7387,W,1,03,00.5,067.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213629.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.01 16.40 3.77 3.82 0 -9434.57 06:40:07 m : NMEA Update: $GPGGA,213629.30,3642.2849,N,-12154.7395,W,1,03,00.5,067.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213630.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213630.30,3642.2848,N,-12154.7404,W,1,03,00.5,068.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213631.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3099.997636 : TerrainNav update at dvl time = 3099.997636 : _navData-> (x,y) = (4062670.88, 597149.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.48 4.41 17.96 3.71 3.82 0 9129.80 06:40:10 m : NMEA Update: $GPGGA,213631.30,3642.2847,N,-12154.7414,W,1,03,00.5,067.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213632.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3100.00 : -1.62 : Estimated East Bias at time = 3100.00 : 5.49 : Estimated Depth Bias at time = 3100.00 : -0.05 : Estimated northing and easting = 4062669.27 : 597155.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213632.30,3642.2846,N,-12154.7425,W,1,03,00.5,067.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213633.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213633.30,3642.2845,N,-12154.7436,W,1,03,00.5,067.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213634.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213634.30,3642.2844,N,-12154.7447,W,1,03,00.5,067.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213635.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213635.30,3642.2842,N,-12154.7457,W,1,03,00.5,068.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213636.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3104.997293 : TerrainNav update at dvl time = 3104.997293 : _navData-> (x,y) = (4062669.65, 597141.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213636.30,3642.2840,N,-12154.7465,W,1,03,00.5,068.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213637.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3105.00 : -1.55 : Estimated East Bias at time = 3105.00 : 6.19 : Estimated Depth Bias at time = 3105.00 : -0.05 : Estimated northing and easting = 4062668.10 : 597148.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213637.30,3642.2839,N,-12154.7473,W,1,03,00.5,069.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213638.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213638.30,3642.2837,N,-12154.7480,W,1,03,00.5,069.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213639.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 4.86 16.40 3.77 3.82 0 -9435.10 06:40:17 m : NMEA Update: $GPGGA,213639.30,3642.2836,N,-12154.7488,W,1,03,00.5,069.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213640.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213640.30,3642.2836,N,-12154.7497,W,1,03,00.5,069.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213641.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3109.996951 : TerrainNav update at dvl time = 3109.996951 : _navData-> (x,y) = (4062668.49, 597135.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 4.64 17.96 3.71 3.82 0 9129.35 06:40:20 m : NMEA Update: $GPGGA,213641.30,3642.2835,N,-12154.7507,W,1,03,00.5,069.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213642.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3110.00 : -2.07 : Estimated East Bias at time = 3110.00 : 6.27 : Estimated Depth Bias at time = 3110.00 : -0.05 : Estimated northing and easting = 4062666.43 : 597142.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213642.30,3642.2834,N,-12154.7517,W,1,03,00.5,070.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213643.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213643.30,3642.2833,N,-12154.7527,W,1,03,00.5,069.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213644.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213644.30,3642.2832,N,-12154.7538,W,1,03,00.5,070.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213645.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213645.30,3642.2831,N,-12154.7547,W,1,03,00.5,070.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213646.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3114.996608 : TerrainNav update at dvl time = 3114.996608 : _navData-> (x,y) = (4062667.40, 597128.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213646.30,3642.2829,N,-12154.7557,W,1,03,00.5,070.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213647.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3115.00 : -1.65 : Estimated East Bias at time = 3115.00 : 6.43 : Estimated Depth Bias at time = 3115.00 : -0.05 : Estimated northing and easting = 4062665.75 : 597134.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213647.30,3642.2828,N,-12154.7567,W,1,03,00.5,070.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213648.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213648.30,3642.2827,N,-12154.7575,W,1,03,00.5,070.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213649.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 5.30 16.40 3.77 3.82 0 -9435.45 06:40:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213649.30,3642.2826,N,-12154.7584,W,1,03,00.5,070.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213650.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213650.30,3642.2825,N,-12154.7592,W,1,03,00.5,070.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213651.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3119.996266 : TerrainNav update at dvl time = 3119.996266 : _navData-> (x,y) = (4062666.38, 597121.82) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.44 17.96 3.71 3.82 0 9129.07 06:40:30 m : NMEA Update: $GPGGA,213651.30,3642.2825,N,-12154.7601,W,1,03,00.5,071.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213652.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3120.00 : -1.99 : Estimated East Bias at time = 3120.00 : 5.79 : Estimated Depth Bias at time = 3120.00 : -0.05 : Estimated northing and easting = 4062664.38 : 597127.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213652.30,3642.2824,N,-12154.7611,W,1,03,00.5,070.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213653.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213653.30,3642.2823,N,-12154.7620,W,1,03,00.5,072.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213654.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213654.30,3642.2822,N,-12154.7630,W,1,03,00.5,071.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213655.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213655.30,3642.2821,N,-12154.7639,W,1,03,00.5,071.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213656.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3124.995923 : TerrainNav update at dvl time = 3124.995923 : _navData-> (x,y) = (4062665.44, 597114.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213656.30,3642.2820,N,-12154.7649,W,1,03,00.5,072.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213657.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3125.00 : -1.60 : Estimated East Bias at time = 3125.00 : 6.08 : Estimated Depth Bias at time = 3125.00 : -0.05 : Estimated northing and easting = 4062663.84 : 597120.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213657.30,3642.2819,N,-12154.7658,W,1,03,00.5,071.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213658.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213658.30,3642.2818,N,-12154.7666,W,1,03,00.5,073.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213659.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.30 16.50 3.77 3.82 0 -9435.97 06:40:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213659.30,3642.2818,N,-12154.7675,W,1,03,00.5,072.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213700.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213700.30,3642.2817,N,-12154.7684,W,1,03,00.5,073.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213701.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3129.995581 : TerrainNav update at dvl time = 3129.995581 : _navData-> (x,y) = (4062664.64, 597107.99) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.14 17.96 3.71 3.82 0 9128.63 06:40:40 m : NMEA Update: $GPGGA,213701.30,3642.2816,N,-12154.7695,W,1,03,00.5,072.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213702.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : Estimated North Bias at time = 3130.00 : -2.05 : Estimated East Bias at time = 3130.00 : 5.77 : Estimated Depth Bias at time = 3130.00 : -0.05 : Estimated northing and easting = 4062662.59 : 597113.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213702.30,3642.2814,N,-12154.7704,W,1,03,00.5,073.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213703.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213703.30,3642.2813,N,-12154.7712,W,1,03,00.5,073.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213704.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213704.30,3642.2812,N,-12154.7720,W,1,03,00.5,073.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213705.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213705.30,3642.2811,N,-12154.7728,W,1,03,00.5,074.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213706.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3134.995238 : TerrainNav update at dvl time = 3134.995238 : _navData-> (x,y) = (4062663.61, 597101.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213706.30,3642.2811,N,-12154.7735,W,1,03,00.5,073.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213707.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3135.00 : -2.52 : Estimated East Bias at time = 3135.00 : 4.56 : Estimated Depth Bias at time = 3135.00 : -0.05 : Estimated northing and easting = 4062661.10 : 597106.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213707.30,3642.2811,N,-12154.7745,W,1,03,00.5,073.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213708.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213708.30,3642.2810,N,-12154.7755,W,1,03,00.5,074.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213709.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=4.71 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 4.64 16.40 3.77 3.82 0 -9436.31 06:40:47 m : NMEA Update: $GPGGA,213709.30,3642.2808,N,-12154.7765,W,1,03,00.5,073.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213710.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl::execute() -- (t = 3182.991950) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 3182.991950) Behavior getgps:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213710.30,3642.2807,N,-12154.7776,W,1,03,00.5,073.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213711.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3139.994896 : TerrainNav update at dvl time = 3139.994896 : _navData-> (x,y) = (4062662.66, 597094.46) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.44 17.96 3.71 3.82 0 9128.34 06:40:50 m : NMEA Update: $GPGGA,213711.30,3642.2806,N,-12154.7785,W,1,03,00.5,075.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213712.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 3139.99 : -1.70 : Estimated East Bias at time = 3139.99 : 6.15 : Estimated Depth Bias at time = 3139.99 : -0.05 : Estimated northing and easting = 4062660.96 : 597100.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213712.30,3642.2806,N,-12154.7792,W,1,03,00.5,076.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213713.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213713.30,3642.2805,N,-12154.7798,W,1,03,00.5,074.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213714.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213714.30,3642.2803,N,-12154.7806,W,1,03,00.5,075.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213715.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213715.31,3642.2800,N,-12154.7810,W,1,03,00.5,075.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213716.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3144.994553 : TerrainNav update at dvl time = 3144.994553 : _navData-> (x,y) = (4062661.10, 597089.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213716.31,3642.2797,N,-12154.7816,W,1,03,00.5,075.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213717.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3144.99 : -1.02 : Estimated East Bias at time = 3144.99 : 4.15 : Estimated Depth Bias at time = 3144.99 : -0.05 : Estimated northing and easting = 4062660.07 : 597093.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213717.31,3642.2794,N,-12154.7823,W,1,03,00.5,075.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213718.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213718.31,3642.2791,N,-12154.7830,W,1,03,00.5,075.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213719.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.53 1.74 16.40 3.77 3.82 0 -9436.58 06:40:57 m : NMEA Update: $GPGGA,213719.31,3642.2790,N,-12154.7834,W,1,03,00.5,075.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213720.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213720.31,3642.2787,N,-12154.7836,W,1,03,00.5,075.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213721.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3149.994211 : TerrainNav update at dvl time = 3149.994211 : _navData-> (x,y) = (4062658.75, 597086.08) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 1.59 17.96 3.73 3.84 0 9128.23 06:41:00 m : NMEA Update: $GPGGA,213721.31,3642.2783,N,-12154.7837,W,1,03,00.5,076.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213722.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 3149.99 : -1.65 : Estimated East Bias at time = 3149.99 : 4.45 : Estimated Depth Bias at time = 3149.99 : -0.05 : Estimated northing and easting = 4062657.10 : 597090.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.750000 : NMEA Update: $GPGGA,213722.31,3642.2780,N,-12154.7842,W,1,03,00.5,076.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213723.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213723.31,3642.2775,N,-12154.7844,W,1,03,00.5,078.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213724.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213724.31,3642.2772,N,-12154.7844,W,1,03,00.5,075.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213725.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213725.31,3642.2770,N,-12154.7845,W,1,03,00.5,076.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213726.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3154.993868 : TerrainNav update at dvl time = 3154.993868 : _navData-> (x,y) = (4062655.59, 597084.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213726.31,3642.2768,N,-12154.7846,W,1,03,00.5,077.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213727.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3154.99 : -2.28 : Estimated East Bias at time = 3154.99 : 4.42 : Estimated Depth Bias at time = 3154.99 : -0.05 : Estimated northing and easting = 4062653.31 : 597089.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213727.31,3642.2765,N,-12154.7845,W,1,03,00.5,075.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213728.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213728.31,3642.2762,N,-12154.7845,W,1,03,00.5,076.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213729.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.53 1.48 16.40 3.79 3.83 0 -9436.69 06:41:07 m : NMEA Update: $GPGGA,213729.31,3642.2758,N,-12154.7845,W,1,03,00.5,076.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213730.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213730.31,3642.2755,N,-12154.7845,W,1,03,00.5,075.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213731.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3159.993526 : TerrainNav update at dvl time = 3159.993526 : _navData-> (x,y) = (4062652.92, 597084.70) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.63 1.48 17.96 3.73 3.84 0 9128.14 06:41:10 m : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213731.31,3642.2753,N,-12154.7846,W,1,03,00.5,075.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213732.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3159.99 : -1.66 : Estimated East Bias at time = 3159.99 : 4.00 : Estimated Depth Bias at time = 3159.99 : -0.05 : Estimated northing and easting = 4062651.27 : 597088.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : NMEA Update: $GPGGA,213732.31,3642.2751,N,-12154.7845,W,1,03,00.5,075.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213733.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213733.31,3642.2749,N,-12154.7844,W,1,03,00.5,075.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213734.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213734.31,3642.2746,N,-12154.7841,W,1,03,00.5,083.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213735.00,3642.36979,N,12154.78683,W,1,09,1.0,-6.89,M,-32.59,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : NMEA Update: $GPGGA,213735.31,3642.3697,N,-12154.7868,W,1,03,00.5,073.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213736.00,3642.36919,N,12154.78723,W,1,09,1.0,-7.29,M,-32.59,M,,*78 : 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 : TerrainNav update at nav time = 3164.993183 : TerrainNav update at dvl time = 3164.993183 : _navData-> (x,y) = (4062826.06, 597078.74) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3164.99 : -1.70 : Estimated East Bias at time = 3164.99 : 4.03 : Estimated Depth Bias at time = 3164.99 : -0.05 : Estimated northing and easting = 4062824.36 : 597082.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213736.31,3642.3691,N,-12154.7873,W,1,03,00.5,079.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213737.00,3642.36872,N,12154.78757,W,1,10,1.0,-6.67,M,-32.59,M,,*75 : 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,213737.31,3642.3687,N,-12154.7876,W,1,03,00.5,075.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213738.00,3642.36931,N,12154.78695,W,1,11,0.9,-4.31,M,-32.59,M,,*7B : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213738.31,3642.3693,N,-12154.7869,W,1,03,00.5,076.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213739.00,3642.36914,N,12154.78681,W,1,11,0.9,-4.12,M,-32.59,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : BluefinBatt Reply: $aaq0 d- 30.49 2.33 16.40 3.79 3.83 0 -9436.89 06:41:17 m : NMEA Update: $GPGGA,213739.31,3642.3691,N,-12154.7868,W,1,03,00.5,075.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213740.00,3642.36925,N,12154.78729,W,1,11,0.9,-4.61,M,-32.59,M,,*72 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,213740.31,3642.3692,N,-12154.7873,W,1,03,00.5,077.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213741.00,3642.36832,N,12154.78625,W,1,11,0.9,-4.53,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : TerrainNav update at nav time = 3170.002840 : TerrainNav update at dvl time = 3170.002840 : _navData-> (x,y) = (4062824.55, 597080.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 3170.00 : -1.66 : Estimated East Bias at time = 3170.00 : 4.02 : Estimated Depth Bias at time = 3170.00 : -0.05 : Estimated northing and easting = 4062822.89 : 597084.34 : BluefinBatt Reply: $b3q0 d- 30.63 1.21 17.87 3.74 3.84 0 9128.03 06:41:20 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213741.31,3642.3683,N,-12154.7862,W,1,03,00.5,077.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213742.00,3642.36794,N,12154.78610,W,1,11,0.9,-4.66,M,-32.59,M,,*78 : GetGPS::execute() -- Got a new GPS hit: 8 of 10 needed : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.765000 : NMEA Update: $GPGGA,213742.31,3642.3679,N,-12154.7860,W,1,03,00.5,077.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213743.00,3642.36766,N,12154.78588,W,1,11,0.9,-4.70,M,-32.59,M,,*71 : 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 : NMEA Update: $GPGGA,213743.31,3642.3676,N,-12154.7859,W,1,03,00.5,076.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213744.00,3642.36740,N,12154.78559,W,1,11,0.9,-4.86,M,-32.59,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 3216.599648) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 3216.599648) Behavior descend:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213744.31,3642.3673,N,-12154.7855,W,1,03,00.5,076.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213745.00,3642.36716,N,12154.78573,W,1,11,0.9,-5.12,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213745.31,3642.3671,N,-12154.7858,W,1,03,00.5,078.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213746.00,3642.36700,N,12154.78550,W,1,11,0.9,-5.15,M,-32.59,M,,*73 : TerrainNav update at nav time = 3175.002497 : TerrainNav update at dvl time = 3175.002497 : _navData-> (x,y) = (4062822.10, 597081.39) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3175.00 : -1.66 : Estimated East Bias at time = 3175.00 : 4.02 : Estimated Depth Bias at time = 3175.00 : -0.05 : Estimated northing and easting = 4062820.44 : 597085.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213746.31,3642.3670,N,-12154.7855,W,1,03,00.5,079.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213747.00,3642.36685,N,12154.78574,W,1,11,0.9,-4.90,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213747.31,3642.3668,N,-12154.7857,W,1,03,00.5,075.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213748.00,3642.36657,N,12154.78537,W,1,11,0.9,-4.55,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213748.31,3642.3665,N,-12154.7853,W,1,03,00.5,074.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213749.00,3642.36622,N,12154.78534,W,1,11,0.9,-4.66,M,-32.59,M,,*7A : BluefinBatt Reply: $aaq0 d- 30.34 5.04 16.40 3.80 3.84 0 -9437.03 06:41:27 m : NMEA Update: $GPGGA,213749.31,3642.3662,N,-12154.7853,W,1,03,00.5,076.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213750.00,3642.36585,N,12154.78511,W,1,11,0.9,-4.71,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213750.31,3642.3658,N,-12154.7851,W,1,03,00.5,076.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213751.00,3642.36548,N,12154.78512,W,1,11,0.9,-4.81,M,-32.59,M,,*71 : TerrainNav update at nav time = 3180.002155 : TerrainNav update at dvl time = 3180.002155 : _navData-> (x,y) = (4062819.22, 597082.03) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3180.00 : -1.64 : Estimated East Bias at time = 3180.00 : 4.05 : Estimated Depth Bias at time = 3180.00 : -0.05 : Estimated northing and easting = 4062817.58 : 597086.08 : BluefinBatt Reply: $b3q0 d- 30.48 4.10 17.87 3.74 3.84 0 9127.83 06:41:30 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213751.31,3642.3654,N,-12154.7851,W,1,03,00.5,077.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213752.00,3642.36502,N,12154.78473,W,1,11,0.9,-4.53,M,-32.59,M,,*75 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213752.31,3642.3649,N,-12154.7847,W,1,03,00.5,076.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213753.00,3642.36438,N,12154.78438,W,1,11,0.9,-4.74,M,-32.59,M,,*76 : NMEA Update: $GPGGA,213753.31,3642.3642,N,-12154.7844,W,1,03,00.5,075.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213754.00,3642.36386,N,12154.78445,W,1,11,0.9,-5.45,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213754.31,3642.3638,N,-12154.7845,W,1,03,00.5,075.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213755.00,3642.36351,N,12154.78471,W,1,11,0.9,-5.37,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213755.31,3642.3635,N,-12154.7848,W,1,03,00.5,076.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213756.00,3642.36313,N,12154.78484,W,1,11,0.9,-4.70,M,-32.59,M,,*7E : TerrainNav update at nav time = 3185.001812 : TerrainNav update at dvl time = 3185.001812 : _navData-> (x,y) = (4062814.90, 597082.43) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3185.00 : -1.60 : Estimated East Bias at time = 3185.00 : 4.03 : Estimated Depth Bias at time = 3185.00 : -0.05 : Estimated northing and easting = 4062813.29 : 597086.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213756.31,3642.3631,N,-12154.7849,W,1,03,00.5,076.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213757.00,3642.36264,N,12154.78471,W,1,11,0.9,-3.98,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213757.31,3642.3625,N,-12154.7847,W,1,03,00.5,076.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213758.00,3642.36221,N,12154.78446,W,1,11,0.9,-3.53,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213758.31,3642.3621,N,-12154.7844,W,1,03,00.5,078.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213759.00,3642.36182,N,12154.78430,W,1,10,1.0,-3.57,M,-32.59,M,,*7F : BluefinBatt Reply: $aaq0 d- 30.37 4.45 16.40 3.80 3.84 0 -9437.53 06:41:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213759.31,3642.3617,N,-12154.7843,W,1,03,00.5,076.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213800.00,3642.36119,N,12154.78401,W,1,11,0.9,-3.99,M,-32.59,M,,*77 : NMEA Update: $GPGGA,213800.31,3642.3611,N,-12154.7840,W,1,03,00.5,079.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213801.00,3642.36053,N,12154.78410,W,1,11,0.9,-4.26,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3190.001470 : TerrainNav update at dvl time = 3190.001470 : _navData-> (x,y) = (4062809.97, 597083.62) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3190.00 : -1.56 : Estimated East Bias at time = 3190.00 : 3.97 : Estimated Depth Bias at time = 3190.00 : -0.05 : Estimated northing and easting = 4062808.42 : 597087.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.52 3.30 17.87 3.72 3.83 0 9127.38 06:41:40 m : NMEA Update: $GPGGA,213801.31,3642.3604,N,-12154.7841,W,1,03,00.5,077.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213802.00,3642.35989,N,12154.78401,W,1,11,0.9,-4.44,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.760000 : NMEA Update: $GPGGA,213802.31,3642.3598,N,-12154.7840,W,1,03,00.5,074.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213803.00,3642.35949,N,12154.78433,W,1,11,0.9,-4.81,M,-32.59,M,,*75 : NMEA Update: $GPGGA,213803.31,3642.3594,N,-12154.7844,W,1,03,00.5,078.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213804.00,3642.35897,N,12154.78458,W,1,11,0.9,-4.91,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213804.31,3642.3589,N,-12154.7847,W,1,03,00.5,076.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213805.00,3642.35869,N,12154.78505,W,1,11,0.9,-4.70,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213805.31,3642.3586,N,-12154.7851,W,1,03,00.5,075.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213806.00,3642.35823,N,12154.78514,W,1,11,0.9,-4.34,M,-32.59,M,,*77 : TerrainNav update at nav time = 3195.001127 : TerrainNav update at dvl time = 3195.001127 : _navData-> (x,y) = (4062805.84, 597082.10) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3195.00 : -1.54 : Estimated East Bias at time = 3195.00 : 3.96 : Estimated Depth Bias at time = 3195.00 : -0.05 : Estimated northing and easting = 4062804.30 : 597086.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213806.31,3642.3582,N,-12154.7852,W,1,03,00.5,079.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213807.00,3642.35804,N,12154.78546,W,1,11,0.9,-4.59,M,-32.59,M,,*7F : NMEA Update: $GPGGA,213807.31,3642.3580,N,-12154.7855,W,1,03,00.5,075.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213808.00,3642.35768,N,12154.78563,W,1,11,0.9,-4.48,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213808.31,3642.3576,N,-12154.7857,W,1,03,00.5,076.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213809.00,3642.35729,N,12154.78587,W,1,11,0.9,-4.67,M,-32.59,M,,*71 : BluefinBatt Reply: $aaq0 d- 30.26 6.45 16.40 3.78 3.82 0 -9437.78 06:41:47 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213809.31,3642.3572,N,-12154.7859,W,1,03,00.5,077.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213810.00,3642.35681,N,12154.78616,W,1,11,0.9,-4.73,M,-32.59,M,,*74 : NMEA Update: $GPGGA,213810.31,3642.3568,N,-12154.7862,W,1,03,00.5,075.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213811.00,3642.35650,N,12154.78661,W,1,11,0.9,-4.80,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3200.000785 : TerrainNav update at dvl time = 3200.000785 : _navData-> (x,y) = (4062802.65, 597079.87) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3200.00 : -1.54 : Estimated East Bias at time = 3200.00 : 3.96 : Estimated Depth Bias at time = 3200.00 : -0.05 : Estimated northing and easting = 4062801.11 : 597083.82 : BluefinBatt Reply: $b3q0 d- 30.52 3.42 17.87 3.72 3.83 0 9127.13 06:41:50 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213811.31,3642.3565,N,-12154.7867,W,1,03,00.5,079.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213812.00,3642.35624,N,12154.78712,W,1,11,0.9,-4.96,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.720000, mean min cell voltage 3.750000 : NMEA Update: $GPGGA,213812.31,3642.3562,N,-12154.7873,W,1,03,00.5,076.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213813.00,3642.35590,N,12154.78706,W,1,11,0.9,-4.09,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213813.31,3642.3559,N,-12154.7871,W,1,03,00.5,076.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213814.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213814.31,3642.3558,N,-12154.7872,W,1,03,00.5,077.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213815.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213815.31,3642.3557,N,-12154.7874,W,1,03,00.5,077.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3205.000443 : TerrainNav update at dvl time = 3205.000443 : _navData-> (x,y) = (4062801.18, 597078.69) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213816.31,3642.3556,N,-12154.7877,W,1,03,00.5,076.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213817.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3205.00 : -2.21 : Estimated East Bias at time = 3205.00 : 1.98 : Estimated Depth Bias at time = 3205.00 : -0.05 : Estimated northing and easting = 4062798.97 : 597080.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213817.31,3642.3556,N,-12154.7883,W,1,03,00.5,077.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213818.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213818.31,3642.3558,N,-12154.7889,W,1,03,00.5,075.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213819.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 5.64 16.30 3.78 3.82 0 -9438.28 06:41:57 m : NMEA Update: $GPGGA,213819.31,3642.3560,N,-12154.7894,W,1,03,00.5,075.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213820.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213820.31,3642.3562,N,-12154.7899,W,1,03,00.5,076.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213821.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3210.000100 : TerrainNav update at dvl time = 3210.000100 : _navData-> (x,y) = (4062802.37, 597074.87) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.71 17.77 3.71 3.82 0 9126.74 06:42:00 m : NMEA Update: $GPGGA,213821.31,3642.3565,N,-12154.7903,W,1,03,00.5,076.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213822.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3210.00 : -4.34 : Estimated East Bias at time = 3210.00 : 3.09 : Estimated Depth Bias at time = 3210.00 : -0.05 : Estimated northing and easting = 4062798.03 : 597077.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,213822.31,3642.3567,N,-12154.7907,W,1,03,00.5,075.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213823.31,3642.3570,N,-12154.7911,W,1,03,00.5,076.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213824.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213824.31,3642.3572,N,-12154.7914,W,1,03,00.5,075.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213825.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213825.31,3642.3574,N,-12154.7917,W,1,03,00.5,076.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3214.999758 : TerrainNav update at dvl time = 3214.999758 : _navData-> (x,y) = (4062804.57, 597072.07) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213826.31,3642.3578,N,-12154.7923,W,1,03,00.5,075.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213827.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3215.00 : -3.64 : Estimated East Bias at time = 3215.00 : 2.97 : Estimated Depth Bias at time = 3215.00 : -0.05 : Estimated northing and easting = 4062800.93 : 597075.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213827.31,3642.3583,N,-12154.7928,W,1,03,00.5,074.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213828.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213828.31,3642.3589,N,-12154.7933,W,1,03,00.5,075.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213829.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 5.26 16.40 3.76 3.81 0 -9438.67 06:42:07 m : NMEA Update: $GPGGA,213829.30,3642.3594,N,-12154.7940,W,1,03,00.5,073.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213830.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213830.30,3642.3598,N,-12154.7946,W,1,03,00.5,074.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213831.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3219.999415 : TerrainNav update at dvl time = 3219.999415 : _navData-> (x,y) = (4062808.91, 597067.68) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.41 5.97 17.87 3.71 3.82 0 9126.42 06:42:10 m : NMEA Update: $GPGGA,213831.30,3642.3601,N,-12154.7950,W,1,03,00.5,075.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213832.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3220.00 : -4.99 : Estimated East Bias at time = 3220.00 : 3.69 : Estimated Depth Bias at time = 3220.00 : -0.05 : Estimated northing and easting = 4062803.93 : 597071.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,213832.30,3642.3604,N,-12154.7954,W,1,03,00.5,074.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213833.30,3642.3608,N,-12154.7958,W,1,03,00.5,074.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213834.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213834.30,3642.3613,N,-12154.7962,W,1,03,00.5,074.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213835.30,3642.3618,N,-12154.7968,W,1,03,00.5,074.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213836.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3224.999073 : TerrainNav update at dvl time = 3224.999073 : _navData-> (x,y) = (4062812.68, 597064.41) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213836.30,3642.3623,N,-12154.7974,W,1,03,00.5,073.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213837.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3225.00 : -5.88 : Estimated East Bias at time = 3225.00 : 3.38 : Estimated Depth Bias at time = 3225.00 : -0.05 : Estimated northing and easting = 4062806.81 : 597067.78 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213837.30,3642.3628,N,-12154.7980,W,1,03,00.5,072.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213838.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213838.30,3642.3632,N,-12154.7988,W,1,03,00.5,072.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213839.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 5.23 16.40 3.76 3.81 0 -9439.23 06:42:17 m : NMEA Update: $GPGGA,213839.30,3642.3636,N,-12154.7996,W,1,03,00.5,072.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213840.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213840.30,3642.3639,N,-12154.8004,W,1,03,00.5,072.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213841.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3229.998730 : TerrainNav update at dvl time = 3229.998730 : _navData-> (x,y) = (4062816.50, 597058.95) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.41 4.94 17.87 3.71 3.82 0 9125.89 06:42:20 m : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213841.30,3642.3643,N,-12154.8010,W,1,03,00.5,072.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213842.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3230.00 : -4.96 : Estimated East Bias at time = 3230.00 : 4.07 : Estimated Depth Bias at time = 3230.00 : -0.05 : Estimated northing and easting = 4062811.55 : 597063.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,213842.30,3642.3648,N,-12154.8015,W,1,03,00.5,072.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213843.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213843.30,3642.3653,N,-12154.8020,W,1,03,00.5,072.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213844.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213844.30,3642.3658,N,-12154.8025,W,1,03,00.5,072.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213845.30,3642.3662,N,-12154.8032,W,1,03,00.5,072.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213846.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3234.998388 : TerrainNav update at dvl time = 3234.998388 : _navData-> (x,y) = (4062820.74, 597054.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213846.30,3642.3667,N,-12154.8040,W,1,03,00.5,071.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,213847.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3235.00 : -5.24 : Estimated East Bias at time = 3235.00 : 3.80 : Estimated Depth Bias at time = 3235.00 : -0.05 : Estimated northing and easting = 4062815.50 : 597058.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213847.30,3642.3671,N,-12154.8047,W,1,03,00.5,070.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213848.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213848.30,3642.3676,N,-12154.8053,W,1,03,00.5,071.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213849.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.23 16.40 3.77 3.82 0 -9439.57 06:42:27 m : NMEA Update: $GPGGA,213849.30,3642.3680,N,-12154.8060,W,1,03,00.5,070.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213850.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213850.30,3642.3685,N,-12154.8066,W,1,03,00.5,070.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213851.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3239.998045 : TerrainNav update at dvl time = 3239.998045 : _navData-> (x,y) = (4062824.87, 597049.54) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.41 4.75 17.87 3.71 3.82 0 9125.58 06:42:30 m : NMEA Update: $GPGGA,213851.30,3642.3689,N,-12154.8073,W,1,03,00.5,069.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213852.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3240.00 : -5.12 : Estimated East Bias at time = 3240.00 : 3.25 : Estimated Depth Bias at time = 3240.00 : -0.05 : Estimated northing and easting = 4062819.75 : 597052.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213852.30,3642.3694,N,-12154.8081,W,1,03,00.5,070.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213853.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on depth 8.079422 > 8.000000 at time 3286.194880 : LayeredControl::execute() -- (t = 3286.194880) Behavior descend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 3286.194880) Behavior setpoint:-1 has changed to state Active : NMEA Update: $GPGGA,213853.30,3642.3698,N,-12154.8089,W,1,03,00.5,069.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213854.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213854.30,3642.3703,N,-12154.8096,W,1,03,00.5,070.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213855.30,3642.3708,N,-12154.8102,W,1,03,00.5,069.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3244.997703 : TerrainNav update at dvl time = 3244.997703 : _navData-> (x,y) = (4062829.16, 597044.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213856.30,3642.3713,N,-12154.8109,W,1,03,00.5,070.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213857.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3245.00 : -5.30 : Estimated East Bias at time = 3245.00 : 3.26 : Estimated Depth Bias at time = 3245.00 : -0.05 : Estimated northing and easting = 4062823.86 : 597047.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213857.30,3642.3717,N,-12154.8116,W,1,03,00.5,069.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213858.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213858.30,3642.3722,N,-12154.8124,W,1,03,00.5,069.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213859.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.67 16.40 3.77 3.82 0 -9440.09 06:42:37 m : NMEA Update: $GPGGA,213859.30,3642.3726,N,-12154.8131,W,1,03,00.5,069.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213900.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213900.30,3642.3731,N,-12154.8137,W,1,03,00.5,069.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213901.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3249.997360 : TerrainNav update at dvl time = 3249.997360 : _navData-> (x,y) = (4062833.23, 597038.86) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.48 4.94 17.87 3.71 3.82 0 9125.11 06:42:40 m : NMEA Update: $GPGGA,213901.30,3642.3735,N,-12154.8144,W,1,03,00.5,069.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213902.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3250.00 : -5.01 : Estimated East Bias at time = 3250.00 : 3.38 : Estimated Depth Bias at time = 3250.00 : -0.05 : Estimated northing and easting = 4062828.22 : 597042.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213902.30,3642.3740,N,-12154.8150,W,1,03,00.5,069.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213903.30,3642.3745,N,-12154.8158,W,1,03,00.5,068.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213904.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213904.30,3642.3749,N,-12154.8167,W,1,03,00.5,068.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213905.30,3642.3754,N,-12154.8176,W,1,03,00.5,068.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3254.997018 : TerrainNav update at dvl time = 3254.997018 : _navData-> (x,y) = (4062837.46, 597033.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213906.30,3642.3759,N,-12154.8183,W,1,03,00.5,069.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213907.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3255.00 : -4.94 : Estimated East Bias at time = 3255.00 : 4.43 : Estimated Depth Bias at time = 3255.00 : -0.05 : Estimated northing and easting = 4062832.52 : 597037.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213907.30,3642.3764,N,-12154.8190,W,1,03,00.5,069.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213908.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213908.30,3642.3768,N,-12154.8196,W,1,03,00.5,069.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213909.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.60 16.50 3.77 3.82 0 -9440.43 06:42:47 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213909.30,3642.3774,N,-12154.8203,W,1,03,00.5,069.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213910.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213910.30,3642.3779,N,-12154.8211,W,1,03,00.5,068.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213911.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3259.996675 : TerrainNav update at dvl time = 3259.996675 : _navData-> (x,y) = (4062842.08, 597027.82) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.22 17.96 3.71 3.82 0 9124.81 06:42:50 m : NMEA Update: $GPGGA,213911.30,3642.3784,N,-12154.8218,W,1,03,00.5,069.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213912.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3260.00 : -5.12 : Estimated East Bias at time = 3260.00 : 4.09 : Estimated Depth Bias at time = 3260.00 : -0.05 : Estimated northing and easting = 4062836.96 : 597031.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213912.30,3642.3789,N,-12154.8225,W,1,03,00.5,068.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213913.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213913.30,3642.3794,N,-12154.8232,W,1,03,00.5,068.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213914.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213914.30,3642.3799,N,-12154.8238,W,1,03,00.5,069.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213915.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213915.30,3642.3804,N,-12154.8245,W,1,03,00.5,069.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213916.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3264.996333 : TerrainNav update at dvl time = 3264.996333 : _navData-> (x,y) = (4062846.60, 597022.66) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213916.30,3642.3809,N,-12154.8252,W,1,03,00.5,068.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213917.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3265.00 : -4.99 : Estimated East Bias at time = 3265.00 : 3.56 : Estimated Depth Bias at time = 3265.00 : -0.05 : Estimated northing and easting = 4062841.61 : 597026.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213917.30,3642.3813,N,-12154.8259,W,1,03,00.5,068.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213918.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213918.30,3642.3818,N,-12154.8267,W,1,03,00.5,068.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213919.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.12 16.40 3.77 3.82 0 -9440.94 06:42:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213919.30,3642.3823,N,-12154.8275,W,1,03,00.5,068.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213920.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213920.30,3642.3828,N,-12154.8284,W,1,03,00.5,068.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213921.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3269.995990 : TerrainNav update at dvl time = 3269.995990 : _navData-> (x,y) = (4062850.98, 597016.81) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.83 17.96 3.71 3.82 0 9124.33 06:43:00 m : NMEA Update: $GPGGA,213921.30,3642.3832,N,-12154.8292,W,1,03,00.5,068.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213922.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3270.00 : -5.01 : Estimated East Bias at time = 3270.00 : 4.12 : Estimated Depth Bias at time = 3270.00 : -0.05 : Estimated northing and easting = 4062845.97 : 597020.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213922.30,3642.3837,N,-12154.8300,W,1,03,00.5,068.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213923.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213923.30,3642.3842,N,-12154.8307,W,1,03,00.5,069.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213924.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213924.30,3642.3847,N,-12154.8314,W,1,03,00.5,069.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213925.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213925.30,3642.3852,N,-12154.8321,W,1,03,00.5,068.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213926.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3274.995647 : TerrainNav update at dvl time = 3274.995647 : _navData-> (x,y) = (4062855.46, 597011.29) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213926.30,3642.3858,N,-12154.8328,W,1,03,00.5,068.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213927.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3275.00 : -5.34 : Estimated East Bias at time = 3275.00 : 3.59 : Estimated Depth Bias at time = 3275.00 : -0.05 : Estimated northing and easting = 4062850.12 : 597014.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213927.30,3642.3863,N,-12154.8335,W,1,03,00.5,068.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213928.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213928.30,3642.3868,N,-12154.8343,W,1,03,00.5,068.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213929.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.26 5.82 16.50 3.77 3.82 0 -9441.29 06:43:07 m : NMEA Update: $GPGGA,213929.30,3642.3873,N,-12154.8350,W,1,03,00.5,068.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213930.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213930.30,3642.3878,N,-12154.8358,W,1,03,00.5,068.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,213931.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3279.995305 : TerrainNav update at dvl time = 3279.995305 : _navData-> (x,y) = (4062860.09, 597005.69) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.67 17.87 3.71 3.82 0 9124.00 06:43:10 m : NMEA Update: $GPGGA,213931.30,3642.3883,N,-12154.8365,W,1,03,00.5,068.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,213932.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3280.00 : -5.08 : Estimated East Bias at time = 3280.00 : 4.14 : Estimated Depth Bias at time = 3280.00 : -0.05 : Estimated northing and easting = 4062855.00 : 597009.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213932.30,3642.3888,N,-12154.8373,W,1,03,00.5,068.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,213933.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213933.30,3642.3892,N,-12154.8380,W,1,03,00.5,067.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213934.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213934.30,3642.3897,N,-12154.8388,W,1,03,00.5,069.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213935.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213935.30,3642.3902,N,-12154.8395,W,1,03,00.5,068.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213936.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3284.994962 : TerrainNav update at dvl time = 3284.994962 : _navData-> (x,y) = (4062864.46, 597000.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213936.30,3642.3907,N,-12154.8402,W,1,03,00.5,068.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213937.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3284.99 : -4.82 : Estimated East Bias at time = 3284.99 : 4.04 : Estimated Depth Bias at time = 3284.99 : -0.05 : Estimated northing and easting = 4062859.64 : 597004.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213937.30,3642.3912,N,-12154.8409,W,1,03,00.5,068.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213938.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213938.30,3642.3917,N,-12154.8417,W,1,03,00.5,068.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213939.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 5.30 16.50 3.77 3.82 0 -9441.80 06:43:17 m : NMEA Update: $GPGGA,213939.30,3642.3923,N,-12154.8424,W,1,03,00.5,069.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213940.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213940.30,3642.3928,N,-12154.8432,W,1,03,00.5,068.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,213941.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3289.994620 : TerrainNav update at dvl time = 3289.994620 : _navData-> (x,y) = (4062869.19, 596994.60) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.25 17.96 3.71 3.82 0 9123.55 06:43:20 m : NMEA Update: $GPGGA,213941.31,3642.3932,N,-12154.8439,W,1,03,00.5,068.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213942.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3289.99 : -4.98 : Estimated East Bias at time = 3289.99 : 4.31 : Estimated Depth Bias at time = 3289.99 : -0.05 : Estimated northing and easting = 4062864.21 : 596998.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213942.31,3642.3937,N,-12154.8448,W,1,03,00.5,067.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213943.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213943.31,3642.3942,N,-12154.8456,W,1,03,00.5,068.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,213944.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213944.31,3642.3947,N,-12154.8464,W,1,03,00.5,068.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213945.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213945.31,3642.3952,N,-12154.8470,W,1,03,00.5,069.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,213946.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3294.994277 : TerrainNav update at dvl time = 3294.994277 : _navData-> (x,y) = (4062873.63, 596988.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213946.31,3642.3957,N,-12154.8476,W,1,03,00.5,068.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,213947.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3294.99 : -5.07 : Estimated East Bias at time = 3294.99 : 4.33 : Estimated Depth Bias at time = 3294.99 : -0.05 : Estimated northing and easting = 4062868.55 : 596993.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213947.31,3642.3963,N,-12154.8483,W,1,03,00.5,069.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213948.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213948.31,3642.3968,N,-12154.8490,W,1,03,00.5,068.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,213949.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.26 5.75 16.40 3.77 3.82 0 -9442.14 06:43:27 m : NMEA Update: $GPGGA,213949.31,3642.3974,N,-12154.8498,W,1,03,00.5,068.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,213950.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213950.31,3642.3979,N,-12154.8507,W,1,03,00.5,068.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213951.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3299.993935 : TerrainNav update at dvl time = 3299.993935 : _navData-> (x,y) = (4062878.46, 596983.26) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.52 17.87 3.71 3.82 0 9123.25 06:43:30 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213951.31,3642.3983,N,-12154.8515,W,1,03,00.5,068.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,213952.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3299.99 : -4.77 : Estimated East Bias at time = 3299.99 : 5.33 : Estimated Depth Bias at time = 3299.99 : -0.05 : Estimated northing and easting = 4062873.69 : 596988.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,213952.31,3642.3988,N,-12154.8523,W,1,03,00.5,068.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213953.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213953.31,3642.3993,N,-12154.8530,W,1,03,00.5,068.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,213954.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213954.31,3642.3999,N,-12154.8536,W,1,03,00.5,068.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213955.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,213955.31,3642.4004,N,-12154.8543,W,1,03,00.5,068.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,213956.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3304.993593 : TerrainNav update at dvl time = 3304.993593 : _navData-> (x,y) = (4062883.03, 596977.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,213956.31,3642.4008,N,-12154.8550,W,1,03,00.5,069.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,213957.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3304.99 : -5.00 : Estimated East Bias at time = 3304.99 : 4.11 : Estimated Depth Bias at time = 3304.99 : -0.05 : Estimated northing and easting = 4062878.03 : 596982.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,213957.31,3642.4014,N,-12154.8558,W,1,03,00.5,068.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,213958.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,213958.31,3642.4019,N,-12154.8566,W,1,03,00.5,069.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,213959.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.12 16.40 3.77 3.82 0 -9442.68 06:43:37 m : NMEA Update: $GPGGA,213959.31,3642.4024,N,-12154.8574,W,1,03,00.5,067.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214000.31,3642.4030,N,-12154.8581,W,1,03,00.5,068.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3309.993250 : TerrainNav update at dvl time = 3309.993250 : _navData-> (x,y) = (4062887.93, 596972.21) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 4.64 17.87 3.71 3.82 0 9122.75 06:43:40 m : NMEA Update: $GPGGA,214001.31,3642.4036,N,-12154.8588,W,1,03,00.5,068.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3309.99 : -5.49 : Estimated East Bias at time = 3309.99 : 4.30 : Estimated Depth Bias at time = 3309.99 : -0.05 : Estimated northing and easting = 4062882.44 : 596976.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,214002.31,3642.4041,N,-12154.8595,W,1,03,00.5,068.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214003.31,3642.4045,N,-12154.8602,W,1,03,00.5,068.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214004.31,3642.4050,N,-12154.8610,W,1,03,00.5,068.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214005.31,3642.4055,N,-12154.8617,W,1,03,00.5,068.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3315.002907 : TerrainNav update at dvl time = 3315.002907 : _navData-> (x,y) = (4062892.32, 596966.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214006.31,3642.4059,N,-12154.8625,W,1,03,00.5,068.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3315.00 : -4.82 : Estimated East Bias at time = 3315.00 : 4.63 : Estimated Depth Bias at time = 3315.00 : -0.05 : Estimated northing and easting = 4062887.49 : 596971.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214007.31,3642.4064,N,-12154.8633,W,1,03,00.5,069.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214008.31,3642.4069,N,-12154.8641,W,1,03,00.5,067.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.04 16.40 3.77 3.82 0 -9443.02 06:43:47 m : NMEA Update: $GPGGA,214009.31,3642.4075,N,-12154.8649,W,1,03,00.5,069.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214010.31,3642.4080,N,-12154.8656,W,1,03,00.5,069.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3320.002564 : TerrainNav update at dvl time = 3320.002564 : _navData-> (x,y) = (4062897.08, 596960.99) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 4.67 17.96 3.71 3.82 0 9122.46 06:43:50 m : NMEA Update: $GPGGA,214011.31,3642.4086,N,-12154.8662,W,1,03,00.5,069.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3320.00 : -5.35 : Estimated East Bias at time = 3320.00 : 4.37 : Estimated Depth Bias at time = 3320.00 : -0.05 : Estimated northing and easting = 4062891.73 : 596965.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214012.31,3642.4091,N,-12154.8669,W,1,03,00.5,069.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214013.31,3642.4096,N,-12154.8677,W,1,03,00.5,069.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214014.31,3642.4100,N,-12154.8685,W,1,03,00.5,067.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214015.31,3642.4105,N,-12154.8692,W,1,03,00.5,069.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3325.002222 : TerrainNav update at dvl time = 3325.002222 : _navData-> (x,y) = (4062901.52, 596955.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214016.31,3642.4110,N,-12154.8698,W,1,03,00.5,068.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3325.00 : -4.86 : Estimated East Bias at time = 3325.00 : 4.86 : Estimated Depth Bias at time = 3325.00 : -0.05 : Estimated northing and easting = 4062896.66 : 596960.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214017.31,3642.4115,N,-12154.8705,W,1,03,00.5,068.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214018.31,3642.4120,N,-12154.8712,W,1,03,00.5,068.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.23 16.40 3.77 3.82 0 -9443.54 06:43:57 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214019.31,3642.4125,N,-12154.8720,W,1,03,00.5,068.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214020.31,3642.4130,N,-12154.8729,W,1,03,00.5,068.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3330.001879 : TerrainNav update at dvl time = 3330.001879 : _navData-> (x,y) = (4062906.13, 596949.78) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.41 5.40 17.96 3.71 3.82 0 9122.01 06:44:00 m : NMEA Update: $GPGGA,214021.31,3642.4135,N,-12154.8738,W,1,03,00.5,068.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3330.00 : -5.13 : Estimated East Bias at time = 3330.00 : 5.88 : Estimated Depth Bias at time = 3330.00 : -0.05 : Estimated northing and easting = 4062901.00 : 596955.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,214022.31,3642.4140,N,-12154.8746,W,1,03,00.5,069.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214023.31,3642.4145,N,-12154.8753,W,1,03,00.5,069.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214024.31,3642.4150,N,-12154.8759,W,1,03,00.5,068.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214025.31,3642.4156,N,-12154.8765,W,1,03,00.5,069.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3335.001537 : TerrainNav update at dvl time = 3335.001537 : _navData-> (x,y) = (4062910.80, 596944.64) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214026.31,3642.4161,N,-12154.8770,W,1,03,00.5,069.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3335.00 : -5.30 : Estimated East Bias at time = 3335.00 : 4.24 : Estimated Depth Bias at time = 3335.00 : -0.05 : Estimated northing and easting = 4062905.50 : 596948.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214027.31,3642.4166,N,-12154.8777,W,1,03,00.5,069.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214028.31,3642.4171,N,-12154.8784,W,1,03,00.5,068.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.34 16.40 3.76 3.81 0 -9443.89 06:44:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214029.31,3642.4176,N,-12154.8793,W,1,03,00.5,068.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214030.31,3642.4181,N,-12154.8801,W,1,03,00.5,068.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3340.001194 : TerrainNav update at dvl time = 3340.001194 : _navData-> (x,y) = (4062915.34, 596938.97) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.29 17.87 3.71 3.82 0 9121.71 06:44:10 m : NMEA Update: $GPGGA,214031.31,3642.4186,N,-12154.8810,W,1,03,00.5,068.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3340.00 : -5.05 : Estimated East Bias at time = 3340.00 : 5.73 : Estimated Depth Bias at time = 3340.00 : -0.05 : Estimated northing and easting = 4062910.29 : 596944.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214032.31,3642.4191,N,-12154.8818,W,1,03,00.5,068.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214033.31,3642.4196,N,-12154.8826,W,1,03,00.5,069.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214034.31,3642.4201,N,-12154.8832,W,1,03,00.5,068.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214035.31,3642.4206,N,-12154.8839,W,1,03,00.5,069.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3345.000852 : TerrainNav update at dvl time = 3345.000852 : _navData-> (x,y) = (4062919.98, 596933.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214036.31,3642.4211,N,-12154.8844,W,1,03,00.5,069.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3345.00 : -5.24 : Estimated East Bias at time = 3345.00 : 4.76 : Estimated Depth Bias at time = 3345.00 : -0.05 : Estimated northing and easting = 4062914.74 : 596938.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214037.31,3642.4216,N,-12154.8850,W,1,03,00.5,068.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214038.31,3642.4221,N,-12154.8856,W,1,03,00.5,068.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 5.45 16.40 3.76 3.81 0 -9444.43 06:44:17 m : NMEA Update: $GPGGA,214039.31,3642.4227,N,-12154.8863,W,1,03,00.5,068.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214040.31,3642.4231,N,-12154.8873,W,1,03,00.5,068.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3350.000509 : TerrainNav update at dvl time = 3350.000509 : _navData-> (x,y) = (4062924.62, 596928.20) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.41 5.17 17.96 3.71 3.82 0 9121.26 06:44:20 m : NMEA Update: $GPGGA,214041.31,3642.4236,N,-12154.8882,W,1,03,00.5,068.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3350.00 : -5.10 : Estimated East Bias at time = 3350.00 : 5.86 : Estimated Depth Bias at time = 3350.00 : -0.05 : Estimated northing and easting = 4062919.52 : 596934.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214042.31,3642.4241,N,-12154.8891,W,1,03,00.5,069.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214043.31,3642.4246,N,-12154.8899,W,1,03,00.5,069.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214044.31,3642.4252,N,-12154.8904,W,1,03,00.5,070.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214045.31,3642.4257,N,-12154.8909,W,1,03,00.5,068.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3355.000167 : TerrainNav update at dvl time = 3355.000167 : _navData-> (x,y) = (4062929.25, 596922.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214046.31,3642.4262,N,-12154.8915,W,1,03,00.5,068.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3355.00 : -5.31 : Estimated East Bias at time = 3355.00 : 3.99 : Estimated Depth Bias at time = 3355.00 : -0.05 : Estimated northing and easting = 4062923.94 : 596926.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214047.31,3642.4267,N,-12154.8922,W,1,03,00.5,068.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214048.31,3642.4272,N,-12154.8929,W,1,03,00.5,068.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 5.19 16.40 3.77 3.82 0 -9444.76 06:44:27 m : NMEA Update: $GPGGA,214049.31,3642.4277,N,-12154.8938,W,1,03,00.5,069.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214050.31,3642.4282,N,-12154.8946,W,1,03,00.5,069.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3359.999824 : TerrainNav update at dvl time = 3359.999824 : _navData-> (x,y) = (4062933.80, 596917.25) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.41 4.75 17.87 3.71 3.82 0 9120.94 06:44:30 m : NMEA Update: $GPGGA,214051.31,3642.4287,N,-12154.8954,W,1,03,00.5,068.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3360.00 : -5.14 : Estimated East Bias at time = 3360.00 : 5.52 : Estimated Depth Bias at time = 3360.00 : -0.05 : Estimated northing and easting = 4062928.66 : 596922.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,214052.31,3642.4291,N,-12154.8962,W,1,03,00.5,068.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214053.31,3642.4296,N,-12154.8970,W,1,03,00.5,069.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214054.31,3642.4301,N,-12154.8977,W,1,03,00.5,069.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214055.30,3642.4307,N,-12154.8983,W,1,03,00.5,069.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3364.999482 : TerrainNav update at dvl time = 3364.999482 : _navData-> (x,y) = (4062938.42, 596911.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214056.30,3642.4312,N,-12154.8990,W,1,03,00.5,069.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3365.00 : -5.35 : Estimated East Bias at time = 3365.00 : 4.91 : Estimated Depth Bias at time = 3365.00 : -0.05 : Estimated northing and easting = 4062933.07 : 596916.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214057.30,3642.4318,N,-12154.8996,W,1,03,00.5,068.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214058.30,3642.4323,N,-12154.9003,W,1,03,00.5,068.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 4.97 16.40 3.77 3.82 0 -9445.30 06:44:37 m : NMEA Update: $GPGGA,214059.30,3642.4327,N,-12154.9011,W,1,03,00.5,068.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214100.30,3642.4332,N,-12154.9019,W,1,03,00.5,068.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3369.999139 : TerrainNav update at dvl time = 3369.999139 : _navData-> (x,y) = (4062942.98, 596906.23) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.41 5.28 17.87 3.71 3.82 0 9120.46 06:44:40 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214101.30,3642.4337,N,-12154.9027,W,1,03,00.5,069.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3370.00 : -4.87 : Estimated East Bias at time = 3370.00 : 5.85 : Estimated Depth Bias at time = 3370.00 : -0.05 : Estimated northing and easting = 4062938.11 : 596912.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,214102.30,3642.4342,N,-12154.9036,W,1,03,00.5,068.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214103.30,3642.4347,N,-12154.9043,W,1,03,00.5,068.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214104.30,3642.4352,N,-12154.9050,W,1,03,00.5,069.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214105.30,3642.4357,N,-12154.9056,W,1,03,00.5,068.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3374.998797 : TerrainNav update at dvl time = 3374.998797 : _navData-> (x,y) = (4062947.58, 596900.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214106.30,3642.4362,N,-12154.9062,W,1,03,00.5,069.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3375.00 : -5.21 : Estimated East Bias at time = 3375.00 : 4.99 : Estimated Depth Bias at time = 3375.00 : -0.05 : Estimated northing and easting = 4062942.37 : 596905.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214107.30,3642.4368,N,-12154.9068,W,1,03,00.5,069.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214108.30,3642.4373,N,-12154.9075,W,1,03,00.5,069.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214109.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.19 16.40 3.77 3.82 0 -9445.64 06:44:47 m : NMEA Update: $GPGGA,214109.30,3642.4378,N,-12154.9083,W,1,03,00.5,069.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214110.30,3642.4383,N,-12154.9092,W,1,03,00.5,068.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3379.998454 : TerrainNav update at dvl time = 3379.998454 : _navData-> (x,y) = (4062952.30, 596895.15) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 4.41 17.96 3.71 3.82 0 9120.17 06:44:50 m : NMEA Update: $GPGGA,214111.30,3642.4388,N,-12154.9102,W,1,03,00.5,068.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3380.00 : -4.99 : Estimated East Bias at time = 3380.00 : 6.22 : Estimated Depth Bias at time = 3380.00 : -0.05 : Estimated northing and easting = 4062947.32 : 596901.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,214112.30,3642.4393,N,-12154.9111,W,1,03,00.5,069.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214113.30,3642.4398,N,-12154.9119,W,1,03,00.5,069.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214114.30,3642.4403,N,-12154.9125,W,1,03,00.5,069.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214115.30,3642.4408,N,-12154.9130,W,1,03,00.5,069.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3384.998112 : TerrainNav update at dvl time = 3384.998112 : _navData-> (x,y) = (4062956.78, 596889.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214116.30,3642.4413,N,-12154.9135,W,1,03,00.5,069.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3385.00 : -4.74 : Estimated East Bias at time = 3385.00 : 4.10 : Estimated Depth Bias at time = 3385.00 : -0.05 : Estimated northing and easting = 4062952.04 : 596893.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214117.30,3642.4418,N,-12154.9141,W,1,03,00.5,069.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214118.30,3642.4424,N,-12154.9148,W,1,03,00.5,069.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.49 16.50 3.77 3.82 0 -9446.17 06:44:57 m : NMEA Update: $GPGGA,214119.30,3642.4429,N,-12154.9156,W,1,03,00.5,069.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214120.30,3642.4435,N,-12154.9164,W,1,03,00.5,068.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3389.997769 : TerrainNav update at dvl time = 3389.997769 : _navData-> (x,y) = (4062961.69, 596884.39) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 4.44 17.87 3.71 3.82 0 9119.69 06:45:00 m : NMEA Update: $GPGGA,214121.30,3642.4439,N,-12154.9173,W,1,03,00.5,068.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3390.00 : -4.92 : Estimated East Bias at time = 3390.00 : 5.69 : Estimated Depth Bias at time = 3390.00 : -0.05 : Estimated northing and easting = 4062956.77 : 596890.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214122.30,3642.4444,N,-12154.9183,W,1,03,00.5,068.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214123.30,3642.4448,N,-12154.9192,W,1,03,00.5,067.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214124.30,3642.4453,N,-12154.9200,W,1,03,00.5,068.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214125.30,3642.4458,N,-12154.9206,W,1,03,00.5,069.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3394.997427 : TerrainNav update at dvl time = 3394.997427 : _navData-> (x,y) = (4062965.95, 596878.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214126.30,3642.4463,N,-12154.9211,W,1,03,00.5,069.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3395.00 : -4.75 : Estimated East Bias at time = 3395.00 : 5.02 : Estimated Depth Bias at time = 3395.00 : -0.05 : Estimated northing and easting = 4062961.21 : 596883.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214127.30,3642.4469,N,-12154.9216,W,1,03,00.5,069.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214128.30,3642.4475,N,-12154.9221,W,1,03,00.5,069.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.04 16.40 3.76 3.81 0 -9446.51 06:45:07 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214129.30,3642.4480,N,-12154.9227,W,1,03,00.5,069.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214130.30,3642.4485,N,-12154.9236,W,1,03,00.5,069.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3399.997084 : TerrainNav update at dvl time = 3399.997084 : _navData-> (x,y) = (4062970.85, 596873.54) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.29 17.87 3.71 3.82 0 9119.40 06:45:10 m : NMEA Update: $GPGGA,214131.30,3642.4490,N,-12154.9246,W,1,03,00.5,068.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3400.00 : -4.54 : Estimated East Bias at time = 3400.00 : 6.07 : Estimated Depth Bias at time = 3400.00 : -0.05 : Estimated northing and easting = 4062966.31 : 596879.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214132.30,3642.4494,N,-12154.9255,W,1,03,00.5,068.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214133.30,3642.4499,N,-12154.9264,W,1,03,00.5,067.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214134.30,3642.4504,N,-12154.9271,W,1,03,00.5,069.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214135.30,3642.4509,N,-12154.9278,W,1,03,00.5,070.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3404.996742 : TerrainNav update at dvl time = 3404.996742 : _navData-> (x,y) = (4062975.36, 596867.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214136.30,3642.4515,N,-12154.9284,W,1,03,00.5,068.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3405.00 : -4.71 : Estimated East Bias at time = 3405.00 : 4.92 : Estimated Depth Bias at time = 3405.00 : -0.05 : Estimated northing and easting = 4062970.65 : 596872.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214137.30,3642.4521,N,-12154.9290,W,1,03,00.5,069.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214138.30,3642.4526,N,-12154.9297,W,1,03,00.5,069.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.67 16.50 3.76 3.81 0 -9447.02 06:45:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214139.30,3642.4531,N,-12154.9304,W,1,03,00.5,069.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214140.30,3642.4536,N,-12154.9311,W,1,03,00.5,069.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3409.996399 : TerrainNav update at dvl time = 3409.996399 : _navData-> (x,y) = (4062980.10, 596862.35) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.37 17.96 3.71 3.82 0 9118.91 06:45:20 m : NMEA Update: $GPGGA,214141.30,3642.4540,N,-12154.9319,W,1,03,00.5,069.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3410.00 : -4.24 : Estimated East Bias at time = 3410.00 : 5.48 : Estimated Depth Bias at time = 3410.00 : -0.05 : Estimated northing and easting = 4062975.86 : 596867.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214142.30,3642.4545,N,-12154.9327,W,1,03,00.5,069.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214143.30,3642.4550,N,-12154.9335,W,1,03,00.5,069.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214144.30,3642.4554,N,-12154.9343,W,1,03,00.5,069.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214145.30,3642.4559,N,-12154.9351,W,1,03,00.5,070.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3414.996057 : TerrainNav update at dvl time = 3414.996057 : _navData-> (x,y) = (4062984.47, 596856.52) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214146.30,3642.4565,N,-12154.9357,W,1,03,00.5,068.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3415.00 : -4.35 : Estimated East Bias at time = 3415.00 : 5.54 : Estimated Depth Bias at time = 3415.00 : -0.05 : Estimated northing and easting = 4062980.12 : 596862.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214147.30,3642.4570,N,-12154.9363,W,1,03,00.5,069.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214148.30,3642.4576,N,-12154.9370,W,1,03,00.5,069.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.26 5.97 16.40 3.76 3.81 0 -9447.36 06:45:27 m : NMEA Update: $GPGGA,214149.30,3642.4581,N,-12154.9378,W,1,03,00.5,069.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214150.30,3642.4586,N,-12154.9387,W,1,03,00.5,068.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3419.995714 : TerrainNav update at dvl time = 3419.995714 : _navData-> (x,y) = (4062989.27, 596851.01) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.48 4.37 17.87 3.71 3.82 0 9118.59 06:45:30 m : NMEA Update: $GPGGA,214151.30,3642.4591,N,-12154.9395,W,1,03,00.5,069.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3420.00 : -4.08 : Estimated East Bias at time = 3420.00 : 6.20 : Estimated Depth Bias at time = 3420.00 : -0.05 : Estimated northing and easting = 4062985.19 : 596857.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214152.30,3642.4595,N,-12154.9402,W,1,03,00.5,069.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214153.30,3642.4600,N,-12154.9410,W,1,03,00.5,068.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214154.30,3642.4605,N,-12154.9416,W,1,03,00.5,069.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214155.30,3642.4610,N,-12154.9423,W,1,03,00.5,069.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3424.995372 : TerrainNav update at dvl time = 3424.995372 : _navData-> (x,y) = (4062993.78, 596845.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214156.30,3642.4616,N,-12154.9430,W,1,03,00.5,068.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3425.00 : -4.37 : Estimated East Bias at time = 3425.00 : 5.46 : Estimated Depth Bias at time = 3425.00 : -0.05 : Estimated northing and easting = 4062989.41 : 596851.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214157.30,3642.4621,N,-12154.9438,W,1,03,00.5,069.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214158.30,3642.4626,N,-12154.9446,W,1,03,00.5,069.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 4.86 16.40 3.76 3.81 0 -9447.88 06:45:37 m : NMEA Update: $GPGGA,214159.30,3642.4632,N,-12154.9453,W,1,03,00.5,068.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214200.30,3642.4637,N,-12154.9461,W,1,03,00.5,069.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3429.995029 : TerrainNav update at dvl time = 3429.995029 : _navData-> (x,y) = (4062998.58, 596839.84) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.33 17.96 3.71 3.82 0 9118.13 06:45:40 m : NMEA Update: $GPGGA,214201.30,3642.4642,N,-12154.9469,W,1,03,00.5,068.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3430.00 : -4.61 : Estimated East Bias at time = 3430.00 : 6.00 : Estimated Depth Bias at time = 3430.00 : -0.05 : Estimated northing and easting = 4062993.97 : 596845.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214202.30,3642.4646,N,-12154.9476,W,1,03,00.5,069.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214203.30,3642.4651,N,-12154.9484,W,1,03,00.5,069.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214204.30,3642.4656,N,-12154.9492,W,1,03,00.5,068.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214205.30,3642.4661,N,-12154.9499,W,1,03,00.5,069.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3434.994687 : TerrainNav update at dvl time = 3434.994687 : _navData-> (x,y) = (4063003.07, 596834.22) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214206.30,3642.4667,N,-12154.9506,W,1,03,00.5,070.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3434.99 : -4.61 : Estimated East Bias at time = 3434.99 : 5.96 : Estimated Depth Bias at time = 3434.99 : -0.05 : Estimated northing and easting = 4062998.46 : 596840.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214207.31,3642.4672,N,-12154.9512,W,1,03,00.5,069.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214208.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214208.31,3642.4677,N,-12154.9519,W,1,03,00.5,069.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 4.97 16.40 3.77 3.82 0 -9448.22 06:45:47 m : NMEA Update: $GPGGA,214209.31,3642.4683,N,-12154.9526,W,1,03,00.5,069.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214210.31,3642.4687,N,-12154.9533,W,1,03,00.5,069.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3439.994344 : TerrainNav update at dvl time = 3439.994344 : _navData-> (x,y) = (4063007.80, 596829.02) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.71 17.87 3.71 3.82 0 9117.83 06:45:50 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214211.31,3642.4692,N,-12154.9541,W,1,03,00.5,069.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3439.99 : -4.38 : Estimated East Bias at time = 3439.99 : 6.07 : Estimated Depth Bias at time = 3439.99 : -0.05 : Estimated northing and easting = 4063003.42 : 596835.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,214212.31,3642.4697,N,-12154.9550,W,1,03,00.5,069.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214213.31,3642.4702,N,-12154.9558,W,1,03,00.5,068.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214214.31,3642.4708,N,-12154.9566,W,1,03,00.5,068.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214215.31,3642.4713,N,-12154.9574,W,1,03,00.5,069.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3444.994002 : TerrainNav update at dvl time = 3444.994002 : _navData-> (x,y) = (4063012.58, 596822.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214216.31,3642.4719,N,-12154.9581,W,1,03,00.5,068.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3444.99 : -4.81 : Estimated East Bias at time = 3444.99 : 6.30 : Estimated Depth Bias at time = 3444.99 : -0.05 : Estimated northing and easting = 4063007.77 : 596829.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214217.31,3642.4724,N,-12154.9587,W,1,03,00.5,068.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214218.31,3642.4728,N,-12154.9595,W,1,03,00.5,069.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.01 16.50 3.77 3.82 0 -9448.72 06:45:57 m : NMEA Update: $GPGGA,214219.31,3642.4733,N,-12154.9602,W,1,03,00.5,069.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214220.31,3642.4737,N,-12154.9609,W,1,03,00.5,069.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3449.993659 : TerrainNav update at dvl time = 3449.993659 : _navData-> (x,y) = (4063016.82, 596817.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 4.37 17.87 3.71 3.82 0 9117.35 06:46:00 m : NMEA Update: $GPGGA,214221.31,3642.4742,N,-12154.9616,W,1,03,00.5,069.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3449.99 : -3.99 : Estimated East Bias at time = 3449.99 : 6.58 : Estimated Depth Bias at time = 3449.99 : -0.05 : Estimated northing and easting = 4063012.83 : 596824.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.740000 : NMEA Update: $GPGGA,214222.31,3642.4747,N,-12154.9623,W,1,03,00.5,070.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214223.31,3642.4753,N,-12154.9631,W,1,03,00.5,069.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214224.31,3642.4759,N,-12154.9640,W,1,03,00.5,068.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214225.31,3642.4764,N,-12154.9647,W,1,03,00.5,069.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3454.993317 : TerrainNav update at dvl time = 3454.993317 : _navData-> (x,y) = (4063021.84, 596811.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214226.31,3642.4769,N,-12154.9654,W,1,03,00.5,069.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3454.99 : -4.78 : Estimated East Bias at time = 3454.99 : 7.13 : Estimated Depth Bias at time = 3454.99 : -0.05 : Estimated northing and easting = 4063017.06 : 596818.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214227.31,3642.4775,N,-12154.9661,W,1,03,00.5,068.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214228.31,3642.4780,N,-12154.9668,W,1,03,00.5,069.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 4.75 16.40 3.76 3.81 0 -9449.06 06:46:07 m : NMEA Update: $GPGGA,214229.31,3642.4784,N,-12154.9675,W,1,03,00.5,068.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214230.31,3642.4789,N,-12154.9684,W,1,03,00.5,069.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3460.002974 : TerrainNav update at dvl time = 3460.002974 : _navData-> (x,y) = (4063026.32, 596806.30) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.41 4.71 17.87 3.71 3.82 0 9117.05 06:46:10 m : NMEA Update: $GPGGA,214231.31,3642.4794,N,-12154.9693,W,1,03,00.5,069.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3460.00 : -4.44 : Estimated East Bias at time = 3460.00 : 7.55 : Estimated Depth Bias at time = 3460.00 : -0.05 : Estimated northing and easting = 4063021.89 : 596813.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214232.31,3642.4799,N,-12154.9701,W,1,03,00.5,068.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214233.31,3642.4804,N,-12154.9708,W,1,03,00.5,069.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214234.31,3642.4809,N,-12154.9714,W,1,03,00.5,069.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214235.31,3642.4815,N,-12154.9720,W,1,03,00.5,069.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3465.002631 : TerrainNav update at dvl time = 3465.002631 : _navData-> (x,y) = (4063031.04, 596800.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214236.31,3642.4820,N,-12154.9727,W,1,03,00.5,069.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3465.00 : -4.94 : Estimated East Bias at time = 3465.00 : 6.34 : Estimated Depth Bias at time = 3465.00 : -0.05 : Estimated northing and easting = 4063026.10 : 596807.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214237.31,3642.4825,N,-12154.9734,W,1,03,00.5,069.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214238.31,3642.4830,N,-12154.9742,W,1,03,00.5,069.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.08 16.40 3.76 3.81 0 -9449.58 06:46:17 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214239.31,3642.4835,N,-12154.9751,W,1,03,00.5,069.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214240.31,3642.4840,N,-12154.9759,W,1,03,00.5,068.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3470.002289 : TerrainNav update at dvl time = 3470.002289 : _navData-> (x,y) = (4063035.60, 596795.10) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.07 17.96 3.71 3.82 0 9116.59 06:46:20 m : NMEA Update: $GPGGA,214241.31,3642.4845,N,-12154.9766,W,1,03,00.5,070.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3470.00 : -4.67 : Estimated East Bias at time = 3470.00 : 7.06 : Estimated Depth Bias at time = 3470.00 : -0.05 : Estimated northing and easting = 4063030.93 : 596802.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214242.31,3642.4850,N,-12154.9774,W,1,03,00.5,068.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214243.31,3642.4856,N,-12154.9780,W,1,03,00.5,069.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214244.31,3642.4861,N,-12154.9788,W,1,03,00.5,069.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214245.31,3642.4866,N,-12154.9796,W,1,03,00.5,069.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3475.001946 : TerrainNav update at dvl time = 3475.001946 : _navData-> (x,y) = (4063040.39, 596789.48) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214246.31,3642.4871,N,-12154.9804,W,1,03,00.5,068.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3475.00 : -4.75 : Estimated East Bias at time = 3475.00 : 6.81 : Estimated Depth Bias at time = 3475.00 : -0.05 : Estimated northing and easting = 4063035.64 : 596796.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214247.31,3642.4875,N,-12154.9812,W,1,03,00.5,069.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214248.31,3642.4880,N,-12154.9819,W,1,03,00.5,069.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 4.71 16.40 3.76 3.81 0 -9449.93 06:46:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214249.31,3642.4886,N,-12154.9825,W,1,03,00.5,068.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214250.31,3642.4891,N,-12154.9832,W,1,03,00.5,069.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3480.001604 : TerrainNav update at dvl time = 3480.001604 : _navData-> (x,y) = (4063044.98, 596784.21) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.41 17.96 3.71 3.82 0 9116.29 06:46:30 m : NMEA Update: $GPGGA,214251.31,3642.4896,N,-12154.9839,W,1,03,00.5,069.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3480.00 : -5.21 : Estimated East Bias at time = 3480.00 : 5.95 : Estimated Depth Bias at time = 3480.00 : -0.05 : Estimated northing and easting = 4063039.76 : 596790.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214252.31,3642.4901,N,-12154.9846,W,1,03,00.5,069.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214253.31,3642.4906,N,-12154.9855,W,1,03,00.5,069.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214254.31,3642.4911,N,-12154.9864,W,1,03,00.5,069.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214255.31,3642.4917,N,-12154.9872,W,1,03,00.5,069.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3485.001261 : TerrainNav update at dvl time = 3485.001261 : _navData-> (x,y) = (4063049.60, 596778.07) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214256.31,3642.4922,N,-12154.9880,W,1,03,00.5,069.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3485.00 : -4.93 : Estimated East Bias at time = 3485.00 : 6.94 : Estimated Depth Bias at time = 3485.00 : -0.05 : Estimated northing and easting = 4063044.67 : 596785.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214257.31,3642.4927,N,-12154.9887,W,1,03,00.5,069.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214258.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214258.31,3642.4932,N,-12154.9893,W,1,03,00.5,069.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 5.04 16.40 3.76 3.81 0 -9450.43 06:46:37 m : NMEA Update: $GPGGA,214259.31,3642.4937,N,-12154.9900,W,1,03,00.5,070.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214300.31,3642.4942,N,-12154.9906,W,1,03,00.5,069.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214301.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3490.000919 : TerrainNav update at dvl time = 3490.000919 : _navData-> (x,y) = (4063054.27, 596772.95) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.48 17.96 3.71 3.82 0 9115.88 06:46:40 m : NMEA Update: $GPGGA,214301.31,3642.4947,N,-12154.9914,W,1,03,00.5,069.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3490.00 : -4.90 : Estimated East Bias at time = 3490.00 : 6.47 : Estimated Depth Bias at time = 3490.00 : -0.05 : Estimated northing and easting = 4063049.37 : 596779.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214302.31,3642.4952,N,-12154.9921,W,1,03,00.5,069.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214303.31,3642.4957,N,-12154.9930,W,1,03,00.5,069.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214304.31,3642.4962,N,-12154.9938,W,1,03,00.5,069.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214305.31,3642.4968,N,-12154.9945,W,1,03,00.5,069.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3495.000576 : TerrainNav update at dvl time = 3495.000576 : _navData-> (x,y) = (4063059.00, 596767.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214306.31,3642.4973,N,-12154.9952,W,1,03,00.5,069.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3495.00 : -5.16 : Estimated East Bias at time = 3495.00 : 6.85 : Estimated Depth Bias at time = 3495.00 : -0.05 : Estimated northing and easting = 4063053.84 : 596773.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214307.31,3642.4978,N,-12154.9959,W,1,03,00.5,069.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214308.31,3642.4983,N,-12154.9966,W,1,03,00.5,069.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 4.52 16.40 3.76 3.81 0 -9450.76 06:46:47 m : NMEA Update: $GPGGA,214309.31,3642.4987,N,-12154.9973,W,1,03,00.5,069.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214310.31,3642.4992,N,-12154.9981,W,1,03,00.5,069.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3500.000234 : TerrainNav update at dvl time = 3500.000234 : _navData-> (x,y) = (4063063.36, 596761.74) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.67 17.96 3.71 3.82 0 9115.58 06:46:50 m : NMEA Update: $GPGGA,214311.31,3642.4997,N,-12154.9988,W,1,03,00.5,069.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3500.00 : -4.63 : Estimated East Bias at time = 3500.00 : 6.70 : Estimated Depth Bias at time = 3500.00 : -0.05 : Estimated northing and easting = 4063058.72 : 596768.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214312.31,3642.5002,N,-12154.9996,W,1,03,00.5,069.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214313.31,3642.5008,N,-12155.0004,W,1,03,00.5,069.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214314.31,3642.5014,N,-12155.0012,W,1,03,00.5,069.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214315.31,3642.5020,N,-12155.0019,W,1,03,00.5,069.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3504.999891 : TerrainNav update at dvl time = 3504.999891 : _navData-> (x,y) = (4063068.41, 596756.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214316.31,3642.5024,N,-12155.0026,W,1,03,00.5,069.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3505.00 : -5.32 : Estimated East Bias at time = 3505.00 : 6.60 : Estimated Depth Bias at time = 3505.00 : -0.05 : Estimated northing and easting = 4063063.09 : 596762.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214317.31,3642.5029,N,-12155.0032,W,1,03,00.5,069.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214318.31,3642.5034,N,-12155.0039,W,1,03,00.5,070.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214319.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.30 4.89 16.40 3.76 3.81 0 -9451.26 06:46:57 m : NMEA Update: $GPGGA,214319.31,3642.5039,N,-12155.0046,W,1,03,00.5,069.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214320.31,3642.5044,N,-12155.0054,W,1,03,00.5,069.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3509.999549 : TerrainNav update at dvl time = 3509.999549 : _navData-> (x,y) = (4063072.91, 596750.74) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.29 17.96 3.70 3.82 0 9115.15 06:47:00 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214321.30,3642.5050,N,-12155.0062,W,1,03,00.5,070.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3510.00 : -5.31 : Estimated East Bias at time = 3510.00 : 6.85 : Estimated Depth Bias at time = 3510.00 : -0.05 : Estimated northing and easting = 4063067.60 : 596757.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.700000, mean min cell voltage 3.730000 : NMEA Update: $GPGGA,214322.30,3642.5055,N,-12155.0070,W,1,03,00.5,069.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214323.30,3642.5060,N,-12155.0078,W,1,03,00.5,069.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214324.30,3642.5065,N,-12155.0086,W,1,03,00.5,069.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214325.30,3642.5070,N,-12155.0092,W,1,03,00.5,070.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3514.999206 : TerrainNav update at dvl time = 3514.999206 : _navData-> (x,y) = (4063077.61, 596745.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214326.30,3642.5075,N,-12155.0099,W,1,03,00.5,069.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3515.00 : -5.01 : Estimated East Bias at time = 3515.00 : 6.45 : Estimated Depth Bias at time = 3515.00 : -0.05 : Estimated northing and easting = 4063072.61 : 596751.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214327.30,3642.5081,N,-12155.0105,W,1,03,00.5,069.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214328.30,3642.5086,N,-12155.0111,W,1,03,00.5,069.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214329.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.01 16.40 3.76 3.81 0 -9451.60 06:47:07 m : NMEA Update: $GPGGA,214329.30,3642.5091,N,-12155.0119,W,1,03,00.5,069.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214330.30,3642.5096,N,-12155.0127,W,1,03,00.5,069.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3519.998864 : TerrainNav update at dvl time = 3519.998864 : _navData-> (x,y) = (4063082.29, 596739.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.41 4.79 17.87 3.70 3.82 0 9114.87 06:47:10 m : NMEA Update: $GPGGA,214331.30,3642.5101,N,-12155.0136,W,1,03,00.5,069.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3520.00 : -4.86 : Estimated East Bias at time = 3520.00 : 7.16 : Estimated Depth Bias at time = 3520.00 : -0.05 : Estimated northing and easting = 4063077.44 : 596746.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.700000, mean min cell voltage 3.730000 : NMEA Update: $GPGGA,214332.30,3642.5106,N,-12155.0145,W,1,03,00.5,070.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214333.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214333.30,3642.5111,N,-12155.0153,W,1,03,00.5,068.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214334.30,3642.5116,N,-12155.0160,W,1,03,00.5,069.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214335.30,3642.5122,N,-12155.0166,W,1,03,00.5,069.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3524.998521 : TerrainNav update at dvl time = 3524.998521 : _navData-> (x,y) = (4063087.05, 596734.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214336.30,3642.5127,N,-12155.0172,W,1,03,00.5,069.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3525.00 : -5.27 : Estimated East Bias at time = 3525.00 : 5.68 : Estimated Depth Bias at time = 3525.00 : -0.05 : Estimated northing and easting = 4063081.78 : 596739.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214337.30,3642.5131,N,-12155.0178,W,1,03,00.5,070.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214338.30,3642.5136,N,-12155.0186,W,1,03,00.5,069.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 4.86 16.40 3.76 3.81 0 -9452.15 06:47:17 m : NMEA Update: $GPGGA,214339.30,3642.5141,N,-12155.0194,W,1,03,00.5,069.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214340.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214340.30,3642.5146,N,-12155.0202,W,1,03,00.5,069.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3529.998179 : TerrainNav update at dvl time = 3529.998179 : _navData-> (x,y) = (4063091.58, 596728.43) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : BluefinBatt Reply: $b3q0 d- 30.44 4.29 17.96 3.70 3.82 0 9114.43 06:47:20 m : NMEA Update: $GPGGA,214341.30,3642.5152,N,-12155.0211,W,1,03,00.5,069.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3530.00 : -5.17 : Estimated East Bias at time = 3530.00 : 6.96 : Estimated Depth Bias at time = 3530.00 : -0.05 : Estimated northing and easting = 4063086.40 : 596735.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.700000, mean min cell voltage 3.730000 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214342.30,3642.5157,N,-12155.0219,W,1,03,00.5,069.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214343.30,3642.5162,N,-12155.0226,W,1,03,00.5,069.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214344.30,3642.5168,N,-12155.0233,W,1,03,00.5,070.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214345.30,3642.5173,N,-12155.0240,W,1,03,00.5,069.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3534.997836 : TerrainNav update at dvl time = 3534.997836 : _navData-> (x,y) = (4063096.39, 596722.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214346.30,3642.5178,N,-12155.0247,W,1,03,00.5,069.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3535.00 : -5.24 : Estimated East Bias at time = 3535.00 : 5.91 : Estimated Depth Bias at time = 3535.00 : -0.05 : Estimated northing and easting = 4063091.15 : 596728.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214347.30,3642.5183,N,-12155.0254,W,1,03,00.5,069.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214348.30,3642.5188,N,-12155.0262,W,1,03,00.5,069.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 4.89 16.40 3.76 3.81 0 -9452.50 06:47:27 m : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214349.30,3642.5193,N,-12155.0269,W,1,03,00.5,070.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214350.30,3642.5198,N,-12155.0276,W,1,03,00.5,069.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3539.997494 : TerrainNav update at dvl time = 3539.997494 : _navData-> (x,y) = (4063101.02, 596717.33) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 4.75 17.87 3.70 3.82 0 9114.10 06:47:30 m : NMEA Update: $GPGGA,214351.30,3642.5204,N,-12155.0284,W,1,03,00.5,069.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3540.00 : -5.32 : Estimated East Bias at time = 3540.00 : 6.24 : Estimated Depth Bias at time = 3540.00 : -0.05 : Estimated northing and easting = 4063095.70 : 596723.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=10.00 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : batts online 2, min cell voltage 3.700000, mean min cell voltage 3.730000 : NMEA Update: $GPGGA,214352.30,3642.5209,N,-12155.0291,W,1,03,00.5,069.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 3586.394315) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 3586.394315) Behavior ascend:-1 has changed to state Active : NMEA Update: $GPGGA,214353.30,3642.5214,N,-12155.0299,W,1,03,00.5,069.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214354.30,3642.5219,N,-12155.0306,W,1,03,00.5,069.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214355.30,3642.5224,N,-12155.0313,W,1,03,00.5,069.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3544.997151 : TerrainNav update at dvl time = 3544.997151 : _navData-> (x,y) = (4063105.64, 596711.74) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214356.30,3642.5228,N,-12155.0321,W,1,03,00.5,068.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3545.00 : -5.05 : Estimated East Bias at time = 3545.00 : 6.38 : Estimated Depth Bias at time = 3545.00 : -0.05 : Estimated northing and easting = 4063100.58 : 596718.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214357.30,3642.5233,N,-12155.0330,W,1,03,00.5,068.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214358.30,3642.5238,N,-12155.0338,W,1,03,00.5,069.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.30 5.04 16.40 3.76 3.81 0 -9453.00 06:47:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214359.30,3642.5244,N,-12155.0345,W,1,03,00.5,069.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214400.30,3642.5249,N,-12155.0351,W,1,03,00.5,069.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214401.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3549.996809 : TerrainNav update at dvl time = 3549.996809 : _navData-> (x,y) = (4063110.29, 596706.14) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.37 5.09 17.96 3.71 3.82 0 9113.66 06:47:40 m : NMEA Update: $GPGGA,214401.30,3642.5254,N,-12155.0357,W,1,03,00.5,070.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : Estimated North Bias at time = 3550.00 : -5.51 : Estimated East Bias at time = 3550.00 : 6.09 : Estimated Depth Bias at time = 3550.00 : -0.05 : Estimated northing and easting = 4063104.79 : 596712.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214402.30,3642.5259,N,-12155.0364,W,1,03,00.5,070.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214403.30,3642.5264,N,-12155.0372,W,1,03,00.5,069.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214404.30,3642.5268,N,-12155.0381,W,1,03,00.5,070.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214405.30,3642.5273,N,-12155.0389,W,1,03,00.5,070.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3554.996466 : TerrainNav update at dvl time = 3554.996466 : _navData-> (x,y) = (4063114.63, 596700.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.17 horzlMode=1 horz=5.50 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214406.30,3642.5278,N,-12155.0397,W,1,03,00.5,070.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3555.00 : -5.10 : Estimated East Bias at time = 3555.00 : 7.19 : Estimated Depth Bias at time = 3555.00 : -0.05 : Estimated northing and easting = 4063109.52 : 596707.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : Abort request issued by behavior "missionTimer" : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 3600.393356) Behavior ascend:-1 has changed to state Active : LayeredControl::execute() -- (t = 3600.393356) Behavior missionTimer:-1 has changed to state Active : NMEA Update: $GPGGA,214407.30,3642.5283,N,-12155.0404,W,1,03,00.5,071.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214408.30,3642.5289,N,-12155.0412,W,1,03,00.5,071.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : BluefinBatt Reply: $aaq0 d- 30.34 4.49 16.40 3.76 3.81 0 -9453.34 06:47:47 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214409.30,3642.5295,N,-12155.0419,W,1,03,00.5,070.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214410.30,3642.5299,N,-12155.0426,W,1,03,00.5,070.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 3559.996124 : TerrainNav update at dvl time = 3559.996124 : _navData-> (x,y) = (4063119.42, 596694.80) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.44 3.72 17.96 3.71 3.82 0 9113.40 06:47:50 m : NMEA Update: $GPGGA,214411.30,3642.5304,N,-12155.0433,W,1,03,00.5,071.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 3560.00 : -5.30 : Estimated East Bias at time = 3560.00 : 6.79 : Estimated Depth Bias at time = 3560.00 : -0.05 : Estimated northing and easting = 4063114.12 : 596701.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214412.30,3642.5307,N,-12155.0441,W,1,03,00.5,071.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214413.30,3642.5310,N,-12155.0449,W,1,03,00.5,069.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214414.30,3642.5311,N,-12155.0458,W,1,03,00.5,067.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214415.30,3642.5311,N,-12155.0465,W,1,03,00.5,067.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3564.995781 : TerrainNav update at dvl time = 3564.995781 : _navData-> (x,y) = (4063121.25, 596689.03) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214416.30,3642.5311,N,-12155.0472,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,214417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3565.00 : -3.34 : Estimated East Bias at time = 3565.00 : 7.20 : Estimated Depth Bias at time = 3565.00 : -0.05 : Estimated northing and easting = 4063117.92 : 596696.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,214417.30,3642.5309,N,-12155.0479,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,214418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,214418.30,3642.5307,N,-12155.0484,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,214419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.79 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : BluefinBatt Reply: $aaq0 d- 30.34 4.34 16.40 3.76 3.81 0 -9453.78 06:47:57 m : LayeredControl::execute() -- (t = 3612.192548) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 3612.192548) Behavior setpoint:-1 has changed to state Active : NMEA Update: $GPGGA,214419.30,3642.5304,N,-12155.0488,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,214420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214420.30,3642.5300,N,-12155.0492,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,214421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3569.995439 : TerrainNav update at dvl time = 3569.995439 : _navData-> (x,y) = (4063118.63, 596685.09) : _tercom->outstandingMeas() = 0 : BluefinBatt Reply: $b3q0 d- 30.52 3.38 17.96 3.71 3.82 0 9113.03 06:48:00 m : NMEA Update: $GPGGA,214421.30,3642.5295,N,-12155.0497,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,214422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : Estimated North Bias at time = 3570.00 : -1.26 : Estimated East Bias at time = 3570.00 : 6.35 : Estimated Depth Bias at time = 3570.00 : -0.05 : Estimated northing and easting = 4063117.37 : 596691.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.735000 : NMEA Update: $GPGGA,214422.30,3642.5290,N,-12155.0501,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,214423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214423.30,3642.5286,N,-12155.0502,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,214424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214424.30,3642.5283,N,-12155.0502,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,214425.00,,,,,0,00,,,M,,M,,*4C : 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,214425.30,3642.5282,N,-12155.0504,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,214426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 3574.995096 : TerrainNav update at dvl time = 3574.995096 : _navData-> (x,y) = (4063115.65, 596683.68) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214426.30,3642.5280,N,-12155.0503,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,214427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 3575.00 : -3.01 : Estimated East Bias at time = 3575.00 : 3.88 : Estimated Depth Bias at time = 3575.00 : -0.05 : Estimated northing and easting = 4063112.64 : 596687.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214427.30,3642.5277,N,-12155.0501,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : AshtechGps::processRecord() - $GPGGA,214428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,214428.30,3642.5273,N,-12155.0502,W,1,03,00.5,077.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214429.00,3642.57248,N,12155.00230,W,1,08,1.2,-3.99,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.49 1.59 16.40 3.78 3.82 0 -9453.95 06:48:07 m : NMEA Update: $GPGGA,214429.30,3642.5724,N,-12155.0024,W,1,03,00.5,077.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214430.00,3642.57221,N,12155.00283,W,1,09,1.1,-3.61,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214430.30,3642.5722,N,-12155.0028,W,1,03,00.5,078.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214431.00,3642.57215,N,12155.00317,W,1,09,1.1,-4.50,M,-32.59,M,,*7A : TerrainNav update at nav time = 3579.994754 : TerrainNav update at dvl time = 3579.994754 : _navData-> (x,y) = (4063197.73, 596753.16) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 3579.99 : -3.05 : Estimated East Bias at time = 3579.99 : 3.87 : Estimated Depth Bias at time = 3579.99 : -0.05 : Estimated northing and easting = 4063194.68 : 596757.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.63 0.87 17.96 3.71 3.82 0 9112.95 06:48:10 m : NMEA Update: $GPGGA,214431.30,3642.5721,N,-12155.0031,W,1,03,00.5,078.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214432.00,3642.57186,N,12155.00344,W,1,09,1.1,-5.88,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : batts online 2, min cell voltage 3.710000, mean min cell voltage 3.745000 : NMEA Update: $GPGGA,214432.30,3642.5718,N,-12155.0033,W,1,03,00.5,074.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214433.00,3642.57157,N,12155.00344,W,1,09,1.1,-4.74,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214433.11,3642.5715,N,-12155.0035,W,1,03,00.5,080.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214434.00,3642.57160,N,12155.00329,W,1,09,1.1,-4.13,M,-32.59,M,,*74 : NMEA Update: $GPGGA,214434.11,3642.5715,N,-12155.0033,W,1,03,00.5,076.7,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,214435.00,3642.57121,N,12155.00331,W,1,09,1.1,-4.16,M,-32.59,M,,*7C : NMEA Update: $GPGGA,214435.11,3642.5712,N,-12155.0033,W,1,03,00.5,080.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214436.00,3642.57100,N,12155.00336,W,1,10,1.0,-4.71,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3584.994411 : TerrainNav update at dvl time = 3584.994411 : _navData-> (x,y) = (4063195.60, 596752.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214436.11,3642.5710,N,-12155.0033,W,1,03,00.5,076.6,M,-99.9,M,,*42 : Estimated North Bias at time = 3584.99 : -3.10 : Estimated East Bias at time = 3584.99 : 3.83 : Estimated Depth Bias at time = 3584.99 : -0.05 : Estimated northing and easting = 4063192.49 : 596756.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214437.00,3642.57076,N,12155.00329,W,1,11,1.0,-4.38,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214437.11,3642.5707,N,-12155.0033,W,1,03,00.5,077.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214438.00,3642.57051,N,12155.00307,W,1,11,1.0,-4.29,M,-32.59,M,,*76 : NMEA Update: $GPGGA,214438.11,3642.5705,N,-12155.0030,W,1,03,00.5,077.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214439.00,3642.57016,N,12155.00271,W,1,11,1.0,-4.37,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.49 1.89 16.40 3.78 3.82 0 -9454.15 06:48:17 m : NMEA Update: $GPGGA,214439.11,3642.5701,N,-12155.0026,W,1,03,00.5,079.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214440.00,3642.56991,N,12155.00254,W,1,11,1.0,-4.77,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214440.11,3642.5699,N,-12155.0025,W,1,03,00.5,078.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214441.00,3642.56968,N,12155.00252,W,1,11,1.0,-5.16,M,-32.59,M,,*76 : TerrainNav update at nav time = 3589.994069 : TerrainNav update at dvl time = 3589.994069 : _navData-> (x,y) = (4063193.16, 596754.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214441.11,3642.5696,N,-12155.0025,W,1,03,00.5,077.7,M,-99.9,M,,*4a : Estimated North Bias at time = 3589.99 : -3.10 : Estimated East Bias at time = 3589.99 : 3.85 : Estimated Depth Bias at time = 3589.99 : -0.05 : Estimated northing and easting = 4063190.05 : 596758.01 : BluefinBatt Reply: $b3q0 d- 30.63 0.98 17.96 3.73 3.84 0 9112.86 06:48:20 m : 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,214442.00,3642.56956,N,12155.00254,W,1,11,1.0,-4.99,M,-32.59,M,,*78 : NMEA Update: $GPGGA,214442.11,3642.5695,N,-12155.0025,W,1,03,00.5,077.4,M,-99.9,M,,*49 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.755000 : AshtechGps::processRecord() - $GPGGA,214443.00,3642.56946,N,12155.00264,W,1,11,1.0,-4.94,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214443.11,3642.5694,N,-12155.0026,W,1,03,00.5,077.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214444.00,3642.56932,N,12155.00251,W,1,11,1.0,-4.59,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214444.11,3642.5693,N,-12155.0025,W,1,03,00.5,077.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214445.00,3642.56912,N,12155.00240,W,1,11,1.0,-4.69,M,-32.59,M,,*75 : NMEA Update: $GPGGA,214445.11,3642.5691,N,-12155.0024,W,1,03,00.5,077.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214446.00,3642.56895,N,12155.00213,W,1,11,1.0,-4.33,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3594.993726 : TerrainNav update at dvl time = 3594.993726 : _navData-> (x,y) = (4063191.85, 596754.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214446.11,3642.5689,N,-12155.0020,W,1,03,00.5,078.8,M,-99.9,M,,*46 : Estimated North Bias at time = 3594.99 : -3.10 : Estimated East Bias at time = 3594.99 : 3.85 : Estimated Depth Bias at time = 3594.99 : -0.05 : Estimated northing and easting = 4063188.75 : 596758.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214447.00,3642.56863,N,12155.00189,W,1,11,1.0,-4.37,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214447.11,3642.5686,N,-12155.0018,W,1,03,00.5,076.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214448.00,3642.56836,N,12155.00142,W,1,11,1.0,-4.76,M,-32.59,M,,*70 : NMEA Update: $GPGGA,214448.11,3642.5683,N,-12155.0013,W,1,03,00.5,079.1,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,214449.00,3642.56819,N,12155.00154,W,1,11,1.0,-5.13,M,-32.59,M,,*79 : BluefinBatt Reply: $aaq0 d- 30.49 1.33 16.40 3.79 3.83 0 -9454.26 06:48:27 m : NMEA Update: $GPGGA,214449.11,3642.5682,N,-12155.0015,W,1,03,00.5,077.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214450.00,3642.56812,N,12155.00154,W,1,11,1.0,-5.13,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214450.11,3642.5681,N,-12155.0016,W,1,03,00.5,078.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214451.00,3642.56800,N,12155.00142,W,1,11,1.0,-5.27,M,-32.59,M,,*78 : TerrainNav update at nav time = 3599.993384 : TerrainNav update at dvl time = 3599.993384 : _navData-> (x,y) = (4063190.10, 596755.81) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214451.11,3642.5680,N,-12155.0014,W,1,03,00.5,077.3,M,-99.9,M,,*4a : Estimated North Bias at time = 3599.99 : -3.09 : Estimated East Bias at time = 3599.99 : 3.87 : Estimated Depth Bias at time = 3599.99 : -0.05 : Estimated northing and easting = 4063187.01 : 596759.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 0.53 17.96 3.73 3.84 0 9112.78 06:48:30 m : AshtechGps::processRecord() - $GPGGA,214452.00,3642.56795,N,12155.00128,W,1,11,1.0,-5.05,M,-32.59,M,,*74 : NMEA Update: $GPGGA,214452.11,3642.5679,N,-12155.0012,W,1,03,00.5,078.7,M,-99.9,M,,*42 : batts online 2, min cell voltage 3.730000, mean min cell voltage 3.760000 : AshtechGps::processRecord() - $GPGGA,214453.00,3642.56794,N,12155.00100,W,1,11,1.0,-4.59,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214453.11,3642.5679,N,-12155.0010,W,1,03,00.5,077.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214454.00,3642.56773,N,12155.00078,W,1,11,1.0,-4.60,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214454.11,3642.5677,N,-12155.0007,W,1,03,00.5,077.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214455.00,3642.56755,N,12155.00038,W,1,11,1.0,-4.62,M,-32.59,M,,*7F : NMEA Update: $GPGGA,214455.11,3642.5675,N,-12155.0003,W,1,03,00.5,079.1,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,214456.00,3642.56737,N,12155.00017,W,1,11,1.0,-4.65,M,-32.59,M,,*72 : TerrainNav update at nav time = 3604.993041 : TerrainNav update at dvl time = 3604.993041 : _navData-> (x,y) = (4063188.94, 596757.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214456.11,3642.5673,N,-12155.0001,W,1,03,00.5,076.1,M,-99.9,M,,*46 : Estimated North Bias at time = 3604.99 : -3.12 : Estimated East Bias at time = 3604.99 : 3.75 : Estimated Depth Bias at time = 3604.99 : -0.05 : Estimated northing and easting = 4063185.82 : 596761.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214457.00,3642.56719,N,12154.99997,W,1,11,1.0,-4.66,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214457.11,3642.5671,N,-12154.9999,W,1,03,00.5,079.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214458.00,3642.56710,N,12154.99972,W,1,11,1.0,-4.86,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214458.11,3642.5671,N,-12154.9997,W,1,03,00.5,078.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214459.00,3642.56694,N,12154.99975,W,1,11,1.0,-4.95,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 30.53 1.22 16.40 3.79 3.83 0 -9454.40 06:48:37 m : NMEA Update: $GPGGA,214459.11,3642.5669,N,-12154.9997,W,1,03,00.5,076.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214500.00,3642.56683,N,12154.99949,W,1,11,1.0,-4.91,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214500.11,3642.5668,N,-12154.9995,W,1,03,00.5,081.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214501.00,3642.56664,N,12154.99945,W,1,11,1.0,-4.79,M,-32.59,M,,*74 : TerrainNav update at nav time = 3610.002698 : TerrainNav update at dvl time = 3610.002698 : _navData-> (x,y) = (4063187.60, 596758.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214501.11,3642.5666,N,-12154.9994,W,1,03,00.5,077.5,M,-99.9,M,,*49 : Estimated North Bias at time = 3610.00 : -3.14 : Estimated East Bias at time = 3610.00 : 3.77 : Estimated Depth Bias at time = 3610.00 : -0.05 : Estimated northing and easting = 4063184.47 : 596762.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.63 0.53 17.87 3.74 3.84 0 9112.72 06:48:40 m : AshtechGps::processRecord() - $GPGGA,214502.00,3642.56658,N,12154.99916,W,1,11,1.0,-4.46,M,-32.59,M,,*72 : NMEA Update: $GPGGA,214502.11,3642.5666,N,-12154.9991,W,1,03,00.5,077.9,M,-99.9,M,,*43 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.765000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214503.00,3642.56649,N,12154.99877,W,1,11,1.0,-4.41,M,-32.59,M,,*72 : NMEA Update: $GPGGA,214503.11,3642.5665,N,-12154.9987,W,1,03,00.5,080.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214504.00,3642.56639,N,12154.99822,W,1,11,1.0,-4.49,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214504.11,3642.5664,N,-12154.9981,W,1,03,00.5,077.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214505.00,3642.56614,N,12154.99805,W,1,11,1.0,-4.91,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214505.11,3642.5661,N,-12154.9980,W,1,03,00.5,078.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214506.00,3642.56610,N,12154.99776,W,1,11,1.0,-4.80,M,-32.59,M,,*78 : TerrainNav update at nav time = 3615.002356 : TerrainNav update at dvl time = 3615.002356 : _navData-> (x,y) = (4063186.67, 596761.30) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214506.11,3642.5661,N,-12154.9977,W,1,03,00.5,076.0,M,-99.9,M,,*40 : Estimated North Bias at time = 3615.00 : -3.19 : Estimated East Bias at time = 3615.00 : 3.78 : Estimated Depth Bias at time = 3615.00 : -0.05 : Estimated northing and easting = 4063183.48 : 596765.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214507.00,3642.56597,N,12154.99756,W,1,11,1.0,-5.16,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214507.11,3642.5659,N,-12154.9975,W,1,03,00.5,079.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214508.00,3642.56591,N,12154.99742,W,1,11,1.0,-5.26,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214508.11,3642.5659,N,-12154.9974,W,1,03,00.5,075.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214509.00,3642.56584,N,12154.99731,W,1,11,1.0,-5.22,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 30.53 1.11 16.40 3.79 3.84 0 -9454.48 06:48:47 m : NMEA Update: $GPGGA,214509.11,3642.5658,N,-12154.9973,W,1,03,00.5,077.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214510.00,3642.56570,N,12154.99734,W,1,11,1.0,-4.97,M,-32.59,M,,*7A : NMEA Update: $GPGGA,214510.11,3642.5657,N,-12154.9973,W,1,03,00.5,077.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214511.00,3642.56563,N,12154.99697,W,1,11,1.0,-4.60,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3620.002013 : TerrainNav update at dvl time = 3620.002013 : _navData-> (x,y) = (4063185.80, 596762.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214511.11,3642.5656,N,-12154.9969,W,1,03,00.5,079.5,M,-99.9,M,,*47 : Estimated North Bias at time = 3620.00 : -3.22 : Estimated East Bias at time = 3620.00 : 3.77 : Estimated Depth Bias at time = 3620.00 : -0.05 : Estimated northing and easting = 4063182.58 : 596766.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.63 0.83 17.87 3.74 3.84 0 9112.68 06:48:50 m : AshtechGps::processRecord() - $GPGGA,214512.00,3642.56530,N,12154.99687,W,1,11,1.0,-4.60,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214512.11,3642.5652,N,-12154.9968,W,1,03,00.5,076.8,M,-99.9,M,,*43 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,214513.00,3642.56535,N,12154.99641,W,1,11,1.0,-4.49,M,-32.59,M,,*78 : NMEA Update: $GPGGA,214513.11,3642.5653,N,-12154.9963,W,1,03,00.5,080.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214514.00,3642.56518,N,12154.99619,W,1,11,1.0,-4.55,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214514.11,3642.5652,N,-12154.9961,W,1,03,00.5,075.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214515.00,3642.56519,N,12154.99584,W,1,11,1.0,-4.11,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214515.11,3642.5652,N,-12154.9958,W,1,03,00.5,078.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214516.00,3642.56495,N,12154.99531,W,1,11,1.0,-3.85,M,-32.59,M,,*75 : TerrainNav update at nav time = 3625.001670 : TerrainNav update at dvl time = 3625.001670 : _navData-> (x,y) = (4063184.52, 596765.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214516.11,3642.5649,N,-12154.9953,W,1,03,00.5,081.6,M,-99.9,M,,*43 : Estimated North Bias at time = 3625.00 : -3.23 : Estimated East Bias at time = 3625.00 : 3.81 : Estimated Depth Bias at time = 3625.00 : -0.05 : Estimated northing and easting = 4063181.30 : 596768.85 : 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,214517.00,3642.56463,N,12154.99480,W,1,11,1.0,-4.59,M,-32.59,M,,*70 : NMEA Update: $GPGGA,214517.11,3642.5646,N,-12154.9947,W,1,03,00.5,079.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214518.00,3642.56464,N,12154.99459,W,1,11,1.0,-5.18,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214518.11,3642.5646,N,-12154.9946,W,1,03,00.5,077.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214519.00,3642.56461,N,12154.99460,W,1,11,1.0,-5.42,M,-32.59,M,,*79 : BluefinBatt Reply: $aaq0 d- 30.49 1.81 16.30 3.79 3.84 0 -9454.63 06:48:57 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214519.11,3642.5646,N,-12154.9946,W,1,03,00.5,077.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214520.00,3642.56452,N,12154.99463,W,1,11,1.0,-5.57,M,-32.59,M,,*74 : NMEA Update: $GPGGA,214520.11,3642.5645,N,-12154.9946,W,1,03,00.5,077.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214521.00,3642.56443,N,12154.99474,W,1,11,1.0,-5.36,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3630.001328 : TerrainNav update at dvl time = 3630.001328 : _navData-> (x,y) = (4063183.65, 596765.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214521.11,3642.5644,N,-12154.9948,W,1,03,00.5,076.6,M,-99.9,M,,*48 : Estimated North Bias at time = 3630.00 : -3.22 : Estimated East Bias at time = 3630.00 : 3.76 : Estimated Depth Bias at time = 3630.00 : -0.05 : Estimated northing and easting = 4063180.43 : 596769.52 : BluefinBatt Reply: $b3q0 d- 30.67 0.53 17.87 3.74 3.84 0 9112.61 06:49:00 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214522.00,3642.56430,N,12154.99464,W,1,12,0.9,-4.52,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214522.11,3642.5643,N,-12154.9946,W,1,03,00.5,079.4,M,-99.9,M,,*4f : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,214523.00,3642.56410,N,12154.99425,W,1,12,0.9,-4.02,M,-32.59,M,,*79 : NMEA Update: $GPGGA,214523.11,3642.5641,N,-12154.9942,W,1,03,00.5,077.2,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,214524.00,3642.56401,N,12154.99369,W,1,12,0.9,-4.18,M,-32.59,M,,*7A : NMEA Update: $GPGGA,214524.11,3642.5640,N,-12154.9936,W,1,03,00.5,078.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214525.00,3642.56389,N,12154.99324,W,1,12,0.9,-4.00,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214525.11,3642.5639,N,-12154.9932,W,1,03,00.5,077.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214526.00,3642.56368,N,12154.99258,W,1,12,0.9,-4.40,M,-32.59,M,,*7E : TerrainNav update at nav time = 3635.000985 : TerrainNav update at dvl time = 3635.000985 : _navData-> (x,y) = (4063182.22, 596769.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214526.11,3642.5636,N,-12154.9924,W,1,03,00.5,078.2,M,-99.9,M,,*4a : Estimated North Bias at time = 3635.00 : -3.26 : Estimated East Bias at time = 3635.00 : 3.73 : Estimated Depth Bias at time = 3635.00 : -0.05 : Estimated northing and easting = 4063178.95 : 596772.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214527.00,3642.56354,N,12154.99222,W,1,12,0.9,-5.25,M,-32.59,M,,*7F : NMEA Update: $GPGGA,214527.11,3642.5636,N,-12154.9922,W,1,03,00.5,077.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214528.00,3642.56365,N,12154.99224,W,1,12,0.9,-5.12,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214528.11,3642.5637,N,-12154.9923,W,1,03,00.5,077.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214529.00,3642.56363,N,12154.99212,W,1,12,0.9,-5.01,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.14 16.30 3.79 3.83 0 -9454.70 06:49:07 m : NMEA Update: $GPGGA,214529.11,3642.5636,N,-12154.9921,W,1,03,00.5,079.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214530.00,3642.56347,N,12154.99181,W,1,12,0.9,-5.13,M,-32.59,M,,*74 : NMEA Update: $GPGGA,214530.11,3642.5634,N,-12154.9918,W,1,03,00.5,078.0,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,214531.00,3642.56336,N,12154.99165,W,1,12,0.9,-5.30,M,-32.59,M,,*78 : TerrainNav update at nav time = 3640.000643 : TerrainNav update at dvl time = 3640.000643 : _navData-> (x,y) = (4063181.65, 596770.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214531.11,3642.5633,N,-12154.9916,W,1,03,00.5,077.4,M,-99.9,M,,*41 : Estimated North Bias at time = 3640.00 : -3.30 : Estimated East Bias at time = 3640.00 : 3.76 : Estimated Depth Bias at time = 3640.00 : -0.05 : Estimated northing and easting = 4063178.35 : 596774.25 : BluefinBatt Reply: $b3q0 d- 30.67 1.21 17.77 3.74 3.84 0 9112.56 06:49:10 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214532.00,3642.56323,N,12154.99160,W,1,12,0.9,-4.93,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214532.11,3642.5632,N,-12154.9916,W,1,03,00.5,077.9,M,-99.9,M,,*4e : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,214533.00,3642.56304,N,12154.99131,W,1,12,0.9,-4.23,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214533.11,3642.5630,N,-12154.9913,W,1,03,00.5,077.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214534.00,3642.56288,N,12154.99061,W,1,12,0.9,-4.13,M,-32.59,M,,*7C : NMEA Update: $GPGGA,214534.11,3642.5628,N,-12154.9905,W,1,03,00.5,078.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214535.00,3642.56264,N,12154.99015,W,1,12,0.9,-4.79,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214535.11,3642.5626,N,-12154.9901,W,1,03,00.5,078.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214536.00,3642.56282,N,12154.98998,W,1,12,0.9,-5.20,M,-32.59,M,,*7B : TerrainNav update at nav time = 3645.000300 : TerrainNav update at dvl time = 3645.000300 : _navData-> (x,y) = (4063180.72, 596773.02) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214536.11,3642.5628,N,-12154.9900,W,1,03,00.5,076.8,M,-99.9,M,,*46 : Estimated North Bias at time = 3645.00 : -3.34 : Estimated East Bias at time = 3645.00 : 3.77 : Estimated Depth Bias at time = 3645.00 : -0.05 : Estimated northing and easting = 4063177.38 : 596776.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214537.00,3642.56279,N,12154.98990,W,1,12,0.9,-5.14,M,-32.59,M,,*71 : NMEA Update: $GPGGA,214537.11,3642.5628,N,-12154.9899,W,1,03,00.5,078.1,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,214538.00,3642.56274,N,12154.98965,W,1,12,0.9,-5.09,M,-32.59,M,,*75 : NMEA Update: $GPGGA,214538.11,3642.5627,N,-12154.9896,W,1,03,00.5,078.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214539.00,3642.56267,N,12154.98935,W,1,12,0.9,-4.99,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.53 1.22 16.40 3.79 3.83 0 -9454.82 06:49:17 m : NMEA Update: $GPGGA,214539.11,3642.5626,N,-12154.9893,W,1,03,00.5,077.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214540.00,3642.56250,N,12154.98917,W,1,12,0.9,-5.16,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214540.11,3642.5625,N,-12154.9892,W,1,03,00.5,078.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214541.00,3642.56261,N,12154.98899,W,1,12,0.9,-4.98,M,-32.59,M,,*74 : TerrainNav update at nav time = 3649.999958 : TerrainNav update at dvl time = 3649.999958 : _navData-> (x,y) = (4063180.42, 596774.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214541.11,3642.5626,N,-12154.9890,W,1,03,00.5,077.5,M,-99.9,M,,*4c : Estimated North Bias at time = 3650.00 : -3.32 : Estimated East Bias at time = 3650.00 : 3.81 : Estimated Depth Bias at time = 3650.00 : -0.05 : Estimated northing and easting = 4063177.10 : 596778.23 : BluefinBatt Reply: $b3q0 d- 30.67 0.57 17.87 3.74 3.84 0 9112.48 06:49:20 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214542.00,3642.56237,N,12154.98886,W,1,12,0.9,-4.67,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214542.11,3642.5623,N,-12154.9888,W,1,03,00.5,077.8,M,-99.9,M,,*4e : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,214543.00,3642.56227,N,12154.98848,W,1,12,0.9,-4.58,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214543.11,3642.5622,N,-12154.9884,W,1,03,00.5,077.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214544.00,3642.56203,N,12154.98828,W,1,12,0.9,-4.90,M,-32.59,M,,*77 : NMEA Update: $GPGGA,214544.11,3642.5620,N,-12154.9882,W,1,03,00.5,078.7,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,214545.00,3642.56207,N,12154.98801,W,1,12,0.9,-4.50,M,-32.59,M,,*75 : NMEA Update: $GPGGA,214545.11,3642.5621,N,-12154.9880,W,1,03,00.5,077.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214546.00,3642.56204,N,12154.98754,W,1,12,0.9,-3.99,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3654.999615 : TerrainNav update at dvl time = 3654.999615 : _navData-> (x,y) = (4063179.33, 596776.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214546.11,3642.5620,N,-12154.9875,W,1,03,00.5,080.1,M,-99.9,M,,*4a : Estimated North Bias at time = 3655.00 : -3.29 : Estimated East Bias at time = 3655.00 : 3.75 : Estimated Depth Bias at time = 3655.00 : -0.05 : Estimated northing and easting = 4063176.04 : 596780.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214547.00,3642.56201,N,12154.98707,W,1,12,0.9,-4.50,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214547.10,3642.5620,N,-12154.9870,W,1,03,00.5,078.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214548.00,3642.56223,N,12154.98674,W,1,12,0.9,-4.79,M,-32.59,M,,*79 : NMEA Update: $GPGGA,214548.10,3642.5623,N,-12154.9867,W,1,03,00.5,078.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214549.00,3642.56208,N,12154.98661,W,1,12,0.9,-5.03,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.07 16.40 3.80 3.84 0 -9454.90 06:49:27 m : NMEA Update: $GPGGA,214549.10,3642.5620,N,-12154.9866,W,1,03,00.5,079.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214550.00,3642.56203,N,12154.98622,W,1,12,0.9,-5.08,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214550.10,3642.5620,N,-12154.9862,W,1,03,00.5,077.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214551.00,3642.56171,N,12154.98610,W,1,12,0.9,-5.34,M,-32.59,M,,*7F : TerrainNav update at nav time = 3659.999273 : TerrainNav update at dvl time = 3659.999273 : _navData-> (x,y) = (4063178.67, 596778.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214551.10,3642.5616,N,-12154.9861,W,1,03,00.5,077.6,M,-99.9,M,,*42 : Estimated North Bias at time = 3660.00 : -3.24 : Estimated East Bias at time = 3660.00 : 3.74 : Estimated Depth Bias at time = 3660.00 : -0.05 : Estimated northing and easting = 4063175.43 : 596782.52 : BluefinBatt Reply: $b3q0 d- 30.63 0.68 17.77 3.74 3.84 0 9112.45 06:49:30 m : 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,214552.00,3642.56158,N,12154.98598,W,1,12,0.9,-5.29,M,-32.59,M,,*78 : NMEA Update: $GPGGA,214552.10,3642.5615,N,-12154.9860,W,1,03,00.5,077.9,M,-99.9,M,,*4c : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214553.00,3642.56172,N,12154.98600,W,1,12,0.9,-5.34,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214553.10,3642.5618,N,-12154.9860,W,1,03,00.5,076.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214554.00,3642.56183,N,12154.98600,W,1,12,0.9,-4.52,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214554.10,3642.5619,N,-12154.9860,W,1,03,00.5,079.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214555.00,3642.56185,N,12154.98559,W,1,12,0.9,-4.19,M,-32.59,M,,*70 : NMEA Update: $GPGGA,214555.10,3642.5618,N,-12154.9855,W,1,03,00.5,078.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214556.00,3642.56182,N,12154.98514,W,1,12,0.9,-4.33,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3664.998930 : TerrainNav update at dvl time = 3664.998930 : _navData-> (x,y) = (4063178.94, 596780.26) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214556.10,3642.5618,N,-12154.9851,W,1,03,00.5,079.4,M,-99.9,M,,*44 : Estimated North Bias at time = 3665.00 : -3.22 : Estimated East Bias at time = 3665.00 : 3.78 : Estimated Depth Bias at time = 3665.00 : -0.05 : Estimated northing and easting = 4063175.73 : 596784.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214557.00,3642.56181,N,12154.98470,W,1,12,0.9,-4.34,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214557.10,3642.5618,N,-12154.9846,W,1,03,00.5,078.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214558.00,3642.56163,N,12154.98433,W,1,12,0.9,-4.45,M,-32.59,M,,*71 : NMEA Update: $GPGGA,214558.10,3642.5616,N,-12154.9843,W,1,03,00.5,078.4,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,214559.00,3642.56149,N,12154.98395,W,1,12,0.9,-4.35,M,-32.59,M,,*74 : BluefinBatt Reply: $aaq0 d- 30.53 1.26 16.30 3.80 3.84 0 -9455.02 06:49:37 m : NMEA Update: $GPGGA,214559.10,3642.5615,N,-12154.9839,W,1,03,00.5,079.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214600.00,3642.56141,N,12154.98358,W,1,12,0.9,-4.95,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214600.10,3642.5614,N,-12154.9835,W,1,03,00.5,076.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214601.00,3642.56148,N,12154.98339,W,1,12,0.9,-5.15,M,-32.59,M,,*7E : TerrainNav update at nav time = 3669.998588 : TerrainNav update at dvl time = 3669.998588 : _navData-> (x,y) = (4063178.41, 596782.83) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214601.10,3642.5615,N,-12154.9834,W,1,03,00.5,077.0,M,-99.9,M,,*41 : Estimated North Bias at time = 3670.00 : -3.22 : Estimated East Bias at time = 3670.00 : 3.82 : Estimated Depth Bias at time = 3670.00 : -0.05 : Estimated northing and easting = 4063175.19 : 596786.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 0.53 17.87 3.74 3.84 0 9112.35 06:49:40 m : AshtechGps::processRecord() - $GPGGA,214602.00,3642.56147,N,12154.98318,W,1,12,0.9,-5.28,M,-32.59,M,,*7F : NMEA Update: $GPGGA,214602.10,3642.5614,N,-12154.9831,W,1,03,00.5,077.9,M,-99.9,M,,*4f : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214603.00,3642.56145,N,12154.98311,W,1,12,0.9,-5.63,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214603.10,3642.5615,N,-12154.9831,W,1,03,00.5,077.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214604.00,3642.56145,N,12154.98300,W,1,12,0.9,-5.54,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214604.10,3642.5614,N,-12154.9830,W,1,03,00.5,077.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214605.00,3642.56139,N,12154.98283,W,1,12,0.9,-5.38,M,-32.59,M,,*73 : NMEA Update: $GPGGA,214605.10,3642.5614,N,-12154.9828,W,1,03,00.5,077.9,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214606.00,3642.56131,N,12154.98271,W,1,12,0.9,-5.02,M,-32.59,M,,*7C : TerrainNav update at nav time = 3674.998245 : TerrainNav update at dvl time = 3674.998245 : _navData-> (x,y) = (4063178.08, 596783.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214606.10,3642.5613,N,-12154.9827,W,1,03,00.5,077.8,M,-99.9,M,,*4a : Estimated North Bias at time = 3675.00 : -3.21 : Estimated East Bias at time = 3675.00 : 3.84 : Estimated Depth Bias at time = 3675.00 : -0.05 : Estimated northing and easting = 4063174.87 : 596787.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214607.00,3642.56121,N,12154.98230,W,1,12,0.9,-4.76,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214607.10,3642.5612,N,-12154.9822,W,1,03,00.5,078.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214608.00,3642.56108,N,12154.98187,W,1,12,0.9,-4.91,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214608.10,3642.5610,N,-12154.9818,W,1,03,00.5,077.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214609.00,3642.56104,N,12154.98164,W,1,12,0.9,-5.06,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 30.57 1.07 16.30 3.80 3.84 0 -9455.13 06:49:47 m : NMEA Update: $GPGGA,214609.10,3642.5610,N,-12154.9816,W,1,03,00.5,079.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214610.00,3642.56107,N,12154.98134,W,1,12,0.9,-4.83,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214610.10,3642.5611,N,-12154.9813,W,1,03,00.5,078.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214611.00,3642.56090,N,12154.98103,W,1,12,0.9,-4.79,M,-32.59,M,,*7B : TerrainNav update at nav time = 3679.997903 : TerrainNav update at dvl time = 3679.997903 : _navData-> (x,y) = (4063177.35, 596786.37) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214611.10,3642.5609,N,-12154.9809,W,1,03,00.5,078.2,M,-99.9,M,,*4e : Estimated North Bias at time = 3680.00 : -3.24 : Estimated East Bias at time = 3680.00 : 3.88 : Estimated Depth Bias at time = 3680.00 : -0.05 : Estimated northing and easting = 4063174.11 : 596790.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 0.64 17.77 3.74 3.84 0 9112.32 06:49:50 m : AshtechGps::processRecord() - $GPGGA,214612.00,3642.56080,N,12154.98059,W,1,12,0.9,-4.98,M,-32.59,M,,*78 : NMEA Update: $GPGGA,214612.10,3642.5608,N,-12154.9805,W,1,03,00.5,078.7,M,-99.9,M,,*45 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214613.00,3642.56075,N,12154.98039,W,1,12,0.9,-5.47,M,-32.59,M,,*76 : NMEA Update: $GPGGA,214613.10,3642.5607,N,-12154.9803,W,1,03,00.5,077.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214614.00,3642.56072,N,12154.98040,W,1,12,0.9,-5.78,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214614.10,3642.5607,N,-12154.9804,W,1,03,00.5,077.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214615.00,3642.56071,N,12154.98012,W,1,12,0.9,-5.54,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214615.10,3642.5607,N,-12154.9801,W,1,03,00.5,078.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214616.00,3642.56058,N,12154.98000,W,1,12,0.9,-5.71,M,-32.59,M,,*73 : TerrainNav update at nav time = 3684.997561 : TerrainNav update at dvl time = 3684.997561 : _navData-> (x,y) = (4063176.78, 596787.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214616.10,3642.5606,N,-12154.9799,W,1,03,00.5,076.7,M,-99.9,M,,*4b : Estimated North Bias at time = 3685.00 : -3.28 : Estimated East Bias at time = 3685.00 : 3.82 : Estimated Depth Bias at time = 3685.00 : -0.05 : Estimated northing and easting = 4063173.50 : 596791.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214617.00,3642.56054,N,12154.97996,W,1,12,0.9,-5.59,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214617.10,3642.5605,N,-12154.9800,W,1,03,00.5,078.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214618.00,3642.56045,N,12154.97981,W,1,12,0.9,-5.73,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214618.10,3642.5604,N,-12154.9798,W,1,03,00.5,077.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214619.00,3642.56023,N,12154.97960,W,1,12,0.9,-5.05,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 30.57 1.07 16.30 3.80 3.84 0 -9455.25 06:49:57 m : NMEA Update: $GPGGA,214619.10,3642.5602,N,-12154.9795,W,1,03,00.5,077.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214620.00,3642.56014,N,12154.97922,W,1,11,0.9,-4.49,M,-32.59,M,,*71 : NMEA Update: $GPGGA,214620.10,3642.5601,N,-12154.9792,W,1,03,00.5,078.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214621.00,3642.56012,N,12154.97894,W,1,11,0.9,-4.62,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3689.997218 : TerrainNav update at dvl time = 3689.997218 : _navData-> (x,y) = (4063175.98, 596789.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214621.10,3642.5601,N,-12154.9789,W,1,03,00.5,077.4,M,-99.9,M,,*4b : Estimated North Bias at time = 3690.00 : -3.33 : Estimated East Bias at time = 3690.00 : 3.73 : Estimated Depth Bias at time = 3690.00 : -0.05 : Estimated northing and easting = 4063172.65 : 596793.27 : BluefinBatt Reply: $b3q0 d- 30.67 0.53 17.87 3.74 3.84 0 9112.22 06:50:00 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214622.00,3642.56010,N,12154.97842,W,1,11,0.9,-4.53,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214622.10,3642.5601,N,-12154.9784,W,1,03,00.5,078.7,M,-99.9,M,,*49 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214623.00,3642.55996,N,12154.97813,W,1,11,0.9,-4.89,M,-32.59,M,,*7D : NMEA Update: $GPGGA,214623.10,3642.5599,N,-12154.9781,W,1,03,00.5,077.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214624.00,3642.55986,N,12154.97787,W,1,11,0.9,-5.43,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214624.10,3642.5598,N,-12154.9778,W,1,03,00.5,078.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214625.00,3642.55979,N,12154.97798,W,1,11,0.9,-5.39,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214625.10,3642.5598,N,-12154.9780,W,1,03,00.5,076.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214626.00,3642.55979,N,12154.97775,W,1,11,0.9,-4.98,M,-32.59,M,,*76 : TerrainNav update at nav time = 3694.996876 : TerrainNav update at dvl time = 3694.996876 : _navData-> (x,y) = (4063175.37, 596791.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214626.10,3642.5598,N,-12154.9777,W,1,03,00.5,078.2,M,-99.9,M,,*47 : Estimated North Bias at time = 3695.00 : -3.28 : Estimated East Bias at time = 3695.00 : 3.75 : Estimated Depth Bias at time = 3695.00 : -0.05 : Estimated northing and easting = 4063172.09 : 596794.94 : 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,214627.00,3642.55962,N,12154.97752,W,1,11,0.9,-5.29,M,-32.59,M,,*73 : NMEA Update: $GPGGA,214627.10,3642.5596,N,-12154.9775,W,1,03,00.5,077.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214628.00,3642.55945,N,12154.97741,W,1,11,0.9,-5.37,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214628.10,3642.5594,N,-12154.9774,W,1,03,00.5,077.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214629.00,3642.55935,N,12154.97740,W,1,11,0.9,-5.48,M,-32.59,M,,*7B : BluefinBatt Reply: $aaq0 d- 30.53 1.81 16.40 3.80 3.84 0 -9455.35 06:50:07 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214629.10,3642.5594,N,-12154.9774,W,1,03,00.5,078.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214630.00,3642.55925,N,12154.97731,W,1,12,0.9,-4.58,M,-32.59,M,,*77 : NMEA Update: $GPGGA,214630.10,3642.5592,N,-12154.9773,W,1,03,00.5,079.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214631.00,3642.55920,N,12154.97697,W,1,12,0.9,-4.70,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3699.996533 : TerrainNav update at dvl time = 3699.996533 : _navData-> (x,y) = (4063174.27, 596792.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214631.10,3642.5592,N,-12154.9769,W,1,03,00.5,076.8,M,-99.9,M,,*40 : Estimated North Bias at time = 3700.00 : -3.27 : Estimated East Bias at time = 3700.00 : 3.72 : Estimated Depth Bias at time = 3700.00 : -0.05 : Estimated northing and easting = 4063170.99 : 596796.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 0.57 17.87 3.74 3.84 0 9112.17 06:50:10 m : AshtechGps::processRecord() - $GPGGA,214632.00,3642.55909,N,12154.97665,W,1,11,0.9,-4.56,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214632.10,3642.5591,N,-12154.9766,W,1,03,00.5,078.7,M,-99.9,M,,*4e : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214633.00,3642.55902,N,12154.97630,W,1,12,0.9,-4.68,M,-32.59,M,,*72 : NMEA Update: $GPGGA,214633.10,3642.5590,N,-12154.9762,W,1,03,00.5,078.6,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,214634.00,3642.55880,N,12154.97604,W,1,12,0.9,-4.89,M,-32.59,M,,*76 : NMEA Update: $GPGGA,214634.10,3642.5588,N,-12154.9760,W,1,03,00.5,078.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214635.00,3642.55869,N,12154.97566,W,1,12,0.9,-4.87,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214635.10,3642.5587,N,-12154.9756,W,1,03,00.5,078.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214636.00,3642.55846,N,12154.97541,W,1,12,0.9,-5.32,M,-32.59,M,,*7D : TerrainNav update at nav time = 3704.996191 : TerrainNav update at dvl time = 3704.996191 : _navData-> (x,y) = (4063172.91, 596794.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214636.10,3642.5584,N,-12154.9754,W,1,03,00.5,078.4,M,-99.9,M,,*4c : Estimated North Bias at time = 3705.00 : -3.20 : Estimated East Bias at time = 3705.00 : 3.75 : Estimated Depth Bias at time = 3705.00 : -0.05 : Estimated northing and easting = 4063169.71 : 596798.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214637.00,3642.55838,N,12154.97520,W,1,12,0.9,-5.24,M,-32.59,M,,*75 : NMEA Update: $GPGGA,214637.10,3642.5584,N,-12154.9752,W,1,03,00.5,076.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214638.00,3642.55835,N,12154.97506,W,1,12,0.9,-5.73,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214638.10,3642.5584,N,-12154.9750,W,1,03,00.5,077.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214639.00,3642.55842,N,12154.97497,W,1,12,0.9,-5.58,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.14 16.30 3.80 3.84 0 -9455.47 06:50:17 m : NMEA Update: $GPGGA,214639.10,3642.5584,N,-12154.9750,W,1,03,00.5,077.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214640.00,3642.55833,N,12154.97489,W,1,12,0.9,-5.51,M,-32.59,M,,*7E : NMEA Update: $GPGGA,214640.10,3642.5583,N,-12154.9749,W,1,03,00.5,078.2,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,214641.00,3642.55826,N,12154.97478,W,1,12,0.9,-5.33,M,-32.59,M,,*71 : TerrainNav update at nav time = 3709.995848 : TerrainNav update at dvl time = 3709.995848 : _navData-> (x,y) = (4063172.57, 596795.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214641.10,3642.5583,N,-12154.9748,W,1,03,00.5,077.4,M,-99.9,M,,*49 : Estimated North Bias at time = 3710.00 : -3.25 : Estimated East Bias at time = 3710.00 : 3.77 : Estimated Depth Bias at time = 3710.00 : -0.05 : Estimated northing and easting = 4063169.32 : 596799.46 : BluefinBatt Reply: $b3q0 d- 30.67 0.98 17.77 3.74 3.85 0 9112.11 06:50:20 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214642.00,3642.55818,N,12154.97456,W,1,12,0.9,-4.93,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214642.10,3642.5582,N,-12154.9745,W,1,03,00.5,078.7,M,-99.9,M,,*4a : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214643.00,3642.55808,N,12154.97413,W,1,12,0.9,-4.82,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214643.10,3642.5581,N,-12154.9740,W,1,03,00.5,077.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214644.00,3642.55795,N,12154.97379,W,1,12,0.9,-4.83,M,-32.59,M,,*7F : NMEA Update: $GPGGA,214644.10,3642.5579,N,-12154.9737,W,1,03,00.5,077.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214645.00,3642.55774,N,12154.97344,W,1,12,0.9,-4.69,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214645.10,3642.5577,N,-12154.9734,W,1,03,00.5,077.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214646.00,3642.55773,N,12154.97308,W,1,12,0.9,-4.81,M,-32.59,M,,*71 : TerrainNav update at nav time = 3714.995506 : TerrainNav update at dvl time = 3714.995506 : _navData-> (x,y) = (4063171.56, 596798.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214646.10,3642.5577,N,-12154.9730,W,1,03,00.5,079.1,M,-99.9,M,,*41 : Estimated North Bias at time = 3715.00 : -3.25 : Estimated East Bias at time = 3715.00 : 3.74 : Estimated Depth Bias at time = 3715.00 : -0.05 : Estimated northing and easting = 4063168.31 : 596802.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214647.00,3642.55753,N,12154.97277,W,1,12,0.9,-4.71,M,-32.59,M,,*74 : NMEA Update: $GPGGA,214647.10,3642.5575,N,-12154.9727,W,1,03,00.5,076.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214648.00,3642.55742,N,12154.97239,W,1,12,0.9,-4.97,M,-32.59,M,,*79 : NMEA Update: $GPGGA,214648.10,3642.5574,N,-12154.9723,W,1,03,00.5,079.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214649.00,3642.55746,N,12154.97209,W,1,12,0.9,-5.04,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.53 1.33 16.30 3.80 3.84 0 -9455.56 06:50:27 m : NMEA Update: $GPGGA,214649.10,3642.5575,N,-12154.9720,W,1,03,00.5,075.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214650.00,3642.55743,N,12154.97184,W,1,12,0.9,-5.47,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214650.10,3642.5574,N,-12154.9718,W,1,03,00.5,079.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214651.00,3642.55751,N,12154.97171,W,1,12,0.9,-5.63,M,-32.59,M,,*76 : TerrainNav update at nav time = 3719.995163 : TerrainNav update at dvl time = 3719.995163 : _navData-> (x,y) = (4063171.24, 596800.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214651.10,3642.5575,N,-12154.9717,W,1,03,00.5,077.7,M,-99.9,M,,*48 : Estimated North Bias at time = 3720.00 : -3.24 : Estimated East Bias at time = 3720.00 : 3.75 : Estimated Depth Bias at time = 3720.00 : -0.05 : Estimated northing and easting = 4063168.00 : 596804.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.71 0.60 17.87 3.74 3.85 0 9112.07 06:50:30 m : AshtechGps::processRecord() - $GPGGA,214652.00,3642.55744,N,12154.97165,W,1,12,0.9,-5.40,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214652.10,3642.5575,N,-12154.9716,W,1,03,00.5,076.8,M,-99.9,M,,*44 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214653.00,3642.55742,N,12154.97148,W,1,12,0.9,-5.18,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214653.10,3642.5574,N,-12154.9714,W,1,03,00.5,078.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214654.00,3642.55748,N,12154.97125,W,1,12,0.9,-5.19,M,-32.59,M,,*77 : NMEA Update: $GPGGA,214654.10,3642.5575,N,-12154.9712,W,1,03,00.5,078.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214655.00,3642.55734,N,12154.97100,W,1,12,0.9,-4.84,M,-32.59,M,,*7F : NMEA Update: $GPGGA,214655.10,3642.5573,N,-12154.9710,W,1,03,00.5,078.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214656.00,3642.55730,N,12154.97056,W,1,12,0.9,-4.37,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3724.994821 : TerrainNav update at dvl time = 3724.994821 : _navData-> (x,y) = (4063170.83, 596802.05) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214656.10,3642.5573,N,-12154.9705,W,1,03,00.5,077.7,M,-99.9,M,,*4a : Estimated North Bias at time = 3724.99 : -3.24 : Estimated East Bias at time = 3724.99 : 3.80 : Estimated Depth Bias at time = 3724.99 : -0.05 : Estimated northing and easting = 4063167.59 : 596805.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214657.00,3642.55710,N,12154.97003,W,1,12,0.9,-4.69,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214657.10,3642.5570,N,-12154.9699,W,1,03,00.5,079.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214658.00,3642.55706,N,12154.96976,W,1,12,0.9,-4.87,M,-32.59,M,,*78 : NMEA Update: $GPGGA,214658.10,3642.5570,N,-12154.9697,W,1,03,00.5,078.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214659.00,3642.55698,N,12154.96953,W,1,12,0.9,-5.02,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.07 16.30 3.80 3.84 0 -9455.69 06:50:37 m : NMEA Update: $GPGGA,214659.11,3642.5570,N,-12154.9695,W,1,03,00.5,077.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214700.00,3642.55688,N,12154.96925,W,1,12,0.9,-5.11,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214700.11,3642.5569,N,-12154.9692,W,1,03,00.5,078.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214701.00,3642.55687,N,12154.96910,W,1,12,0.9,-5.25,M,-32.59,M,,*74 : TerrainNav update at nav time = 3729.994478 : TerrainNav update at dvl time = 3729.994478 : _navData-> (x,y) = (4063170.11, 596804.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214701.11,3642.5569,N,-12154.9691,W,1,03,00.5,077.8,M,-99.9,M,,*40 : Estimated North Bias at time = 3729.99 : -3.22 : Estimated East Bias at time = 3729.99 : 3.82 : Estimated Depth Bias at time = 3729.99 : -0.05 : Estimated northing and easting = 4063166.88 : 596808.00 : BluefinBatt Reply: $b3q0 d- 30.71 0.87 17.77 3.74 3.85 0 9111.99 06:50:40 m : 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,214702.00,3642.55694,N,12154.96908,W,1,12,0.9,-5.28,M,-32.59,M,,*71 : NMEA Update: $GPGGA,214702.11,3642.5569,N,-12154.9691,W,1,03,00.5,078.2,M,-99.9,M,,*46 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214703.00,3642.55698,N,12154.96891,W,1,12,0.9,-4.92,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214703.11,3642.5570,N,-12154.9689,W,1,03,00.5,078.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214704.00,3642.55697,N,12154.96845,W,1,12,0.9,-4.71,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214704.11,3642.5569,N,-12154.9684,W,1,03,00.5,077.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214705.00,3642.55676,N,12154.96805,W,1,12,0.9,-4.72,M,-32.59,M,,*78 : NMEA Update: $GPGGA,214705.11,3642.5567,N,-12154.9680,W,1,03,00.5,078.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214706.00,3642.55688,N,12154.96780,W,1,12,0.9,-4.75,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3734.994135 : TerrainNav update at dvl time = 3734.994135 : _navData-> (x,y) = (4063170.12, 596806.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214706.11,3642.5569,N,-12154.9678,W,1,03,00.5,076.8,M,-99.9,M,,*41 : Estimated North Bias at time = 3734.99 : -3.23 : Estimated East Bias at time = 3734.99 : 3.77 : Estimated Depth Bias at time = 3734.99 : -0.05 : Estimated northing and easting = 4063166.89 : 596809.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214707.00,3642.55668,N,12154.96740,W,1,12,0.9,-4.43,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214707.11,3642.5566,N,-12154.9673,W,1,03,00.5,080.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214708.00,3642.55671,N,12154.96714,W,1,12,0.9,-5.91,M,-32.59,M,,*71 : NMEA Update: $GPGGA,214708.11,3642.5566,N,-12154.9670,W,1,03,00.5,075.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214709.00,3642.55665,N,12154.96688,W,1,12,0.9,-6.16,M,-32.59,M,,*7D : BluefinBatt Reply: $aaq0 d- 30.49 1.96 16.40 3.80 3.84 0 -9455.77 06:50:47 m : NMEA Update: $GPGGA,214709.11,3642.5567,N,-12154.9669,W,1,03,00.5,081.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214710.00,3642.55658,N,12154.96682,W,1,12,0.9,-5.85,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214710.11,3642.5566,N,-12154.9668,W,1,03,00.5,077.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214711.00,3642.55671,N,12154.96674,W,1,12,0.9,-5.80,M,-32.59,M,,*7E : TerrainNav update at nav time = 3739.993793 : TerrainNav update at dvl time = 3739.993793 : _navData-> (x,y) = (4063169.86, 596807.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214711.11,3642.5567,N,-12154.9667,W,1,03,00.5,076.6,M,-99.9,M,,*49 : Estimated North Bias at time = 3739.99 : -3.24 : Estimated East Bias at time = 3739.99 : 3.79 : Estimated Depth Bias at time = 3739.99 : -0.05 : Estimated northing and easting = 4063166.62 : 596811.46 : BluefinBatt Reply: $b3q0 d- 30.67 0.53 17.77 3.74 3.85 0 9111.94 06:50:50 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214712.00,3642.55659,N,12154.96641,W,1,12,0.9,-5.72,M,-32.59,M,,*7C : NMEA Update: $GPGGA,214712.11,3642.5566,N,-12154.9663,W,1,03,00.5,078.2,M,-99.9,M,,*45 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214713.00,3642.55661,N,12154.96608,W,1,12,0.9,-5.98,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214713.11,3642.5566,N,-12154.9660,W,1,03,00.5,078.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214714.00,3642.55654,N,12154.96591,W,1,12,0.9,-6.05,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214714.11,3642.5565,N,-12154.9659,W,1,03,00.5,078.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214715.00,3642.55653,N,12154.96578,W,1,12,0.9,-5.58,M,-32.59,M,,*70 : NMEA Update: $GPGGA,214715.11,3642.5565,N,-12154.9658,W,1,03,00.5,077.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214716.00,3642.55654,N,12154.96548,W,1,12,0.9,-5.31,M,-32.59,M,,*78 : TerrainNav update at nav time = 3744.993450 : TerrainNav update at dvl time = 3744.993450 : _navData-> (x,y) = (4063169.57, 596809.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214716.11,3642.5565,N,-12154.9654,W,1,03,00.5,078.7,M,-99.9,M,,*43 : Estimated North Bias at time = 3744.99 : -3.23 : Estimated East Bias at time = 3744.99 : 3.83 : Estimated Depth Bias at time = 3744.99 : -0.05 : Estimated northing and easting = 4063166.34 : 596813.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214717.00,3642.55639,N,12154.96495,W,1,12,0.9,-5.24,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214717.11,3642.5563,N,-12154.9649,W,1,03,00.5,077.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214718.00,3642.55639,N,12154.96459,W,1,12,0.9,-5.43,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214718.11,3642.5564,N,-12154.9645,W,1,03,00.5,077.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214719.00,3642.55634,N,12154.96427,W,1,12,0.9,-5.70,M,-32.59,M,,*7C : BluefinBatt Reply: $aaq0 d- 30.57 1.11 16.40 3.80 3.84 0 -9455.91 06:50:57 m : NMEA Update: $GPGGA,214719.11,3642.5563,N,-12154.9642,W,1,03,00.5,077.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214720.00,3642.55652,N,12154.96416,W,1,11,1.0,-6.09,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214720.11,3642.5565,N,-12154.9641,W,1,03,00.5,078.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214721.00,3642.55632,N,12154.96383,W,1,12,0.9,-5.49,M,-32.59,M,,*72 : TerrainNav update at nav time = 3749.993108 : TerrainNav update at dvl time = 3749.993108 : _navData-> (x,y) = (4063169.22, 596812.03) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214721.11,3642.5563,N,-12154.9638,W,1,03,00.5,078.5,M,-99.9,M,,*49 : Estimated North Bias at time = 3749.99 : -3.22 : Estimated East Bias at time = 3749.99 : 3.80 : Estimated Depth Bias at time = 3749.99 : -0.05 : Estimated northing and easting = 4063166.00 : 596815.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 1.14 17.87 3.74 3.85 0 9111.89 06:51:00 m : AshtechGps::processRecord() - $GPGGA,214722.00,3642.55631,N,12154.96358,W,1,12,0.9,-5.59,M,-32.59,M,,*75 : NMEA Update: $GPGGA,214722.11,3642.5563,N,-12154.9635,W,1,03,00.5,077.4,M,-99.9,M,,*49 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214723.00,3642.55620,N,12154.96343,W,1,12,0.9,-6.12,M,-32.59,M,,*72 : NMEA Update: $GPGGA,214723.11,3642.5562,N,-12154.9634,W,1,03,00.5,077.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214724.00,3642.55615,N,12154.96334,W,1,12,0.9,-5.64,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214724.11,3642.5561,N,-12154.9634,W,1,03,00.5,077.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214725.00,3642.55590,N,12154.96322,W,1,12,0.9,-5.81,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214725.11,3642.5558,N,-12154.9632,W,1,03,00.5,077.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214726.00,3642.55592,N,12154.96288,W,1,12,0.9,-5.69,M,-32.59,M,,*74 : TerrainNav update at nav time = 3755.002765 : TerrainNav update at dvl time = 3755.002765 : _navData-> (x,y) = (4063168.35, 596813.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214726.11,3642.5559,N,-12154.9628,W,1,03,00.5,078.2,M,-99.9,M,,*41 : Estimated North Bias at time = 3755.00 : -3.23 : Estimated East Bias at time = 3755.00 : 3.77 : Estimated Depth Bias at time = 3755.00 : -0.05 : Estimated northing and easting = 4063165.13 : 596817.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214727.00,3642.55597,N,12154.96279,W,1,12,0.9,-5.67,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214727.11,3642.5560,N,-12154.9628,W,1,03,00.5,077.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214728.00,3642.55617,N,12154.96253,W,1,12,0.9,-5.43,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214728.11,3642.5562,N,-12154.9625,W,1,03,00.5,076.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214729.00,3642.55599,N,12154.96193,W,1,12,0.9,-5.62,M,-32.59,M,,*72 : BluefinBatt Reply: $aaq0 d- 30.57 1.18 16.30 3.80 3.84 0 -9455.99 06:51:07 m : NMEA Update: $GPGGA,214729.11,3642.5559,N,-12154.9619,W,1,03,00.5,080.1,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,214730.00,3642.55601,N,12154.96161,W,1,12,0.9,-5.72,M,-32.59,M,,*74 : NMEA Update: $GPGGA,214730.11,3642.5560,N,-12154.9616,W,1,03,00.5,080.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214731.00,3642.55580,N,12154.96136,W,1,12,0.9,-6.29,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3760.002422 : TerrainNav update at dvl time = 3760.002422 : _navData-> (x,y) = (4063168.18, 596815.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214731.11,3642.5557,N,-12154.9613,W,1,03,00.5,077.8,M,-99.9,M,,*44 : Estimated North Bias at time = 3760.00 : -3.22 : Estimated East Bias at time = 3760.00 : 3.81 : Estimated Depth Bias at time = 3760.00 : -0.05 : Estimated northing and easting = 4063164.96 : 596819.57 : BluefinBatt Reply: $b3q0 d- 30.71 0.53 17.77 3.74 3.85 0 9111.85 06:51:10 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214732.00,3642.55581,N,12154.96103,W,1,12,0.9,-5.79,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214732.11,3642.5558,N,-12154.9610,W,1,03,00.5,077.1,M,-99.9,M,,*42 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214733.00,3642.55568,N,12154.96075,W,1,12,0.9,-5.81,M,-32.59,M,,*73 : NMEA Update: $GPGGA,214733.11,3642.5557,N,-12154.9607,W,1,03,00.5,077.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214734.00,3642.55577,N,12154.96058,W,1,12,0.9,-6.08,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214734.11,3642.5558,N,-12154.9606,W,1,03,00.5,077.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214735.00,3642.55587,N,12154.96060,W,1,12,0.9,-6.30,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214735.11,3642.5559,N,-12154.9606,W,1,03,00.5,076.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214736.00,3642.55597,N,12154.96032,W,1,12,0.9,-5.69,M,-32.59,M,,*73 : TerrainNav update at nav time = 3765.002080 : TerrainNav update at dvl time = 3765.002080 : _navData-> (x,y) = (4063168.61, 596817.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214736.11,3642.5560,N,-12154.9603,W,1,03,00.5,078.0,M,-99.9,M,,*41 : Estimated North Bias at time = 3765.00 : -3.17 : Estimated East Bias at time = 3765.00 : 3.75 : Estimated Depth Bias at time = 3765.00 : -0.05 : Estimated northing and easting = 4063165.44 : 596821.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214737.00,3642.55580,N,12154.96003,W,1,12,0.9,-5.29,M,-32.59,M,,*72 : NMEA Update: $GPGGA,214737.11,3642.5558,N,-12154.9600,W,1,03,00.5,077.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214738.00,3642.55569,N,12154.95960,W,1,12,0.9,-5.59,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214738.11,3642.5556,N,-12154.9595,W,1,03,00.5,077.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214739.00,3642.55560,N,12154.95930,W,1,12,0.9,-5.60,M,-32.59,M,,*75 : BluefinBatt Reply: $aaq0 d- 30.57 1.03 16.30 3.80 3.84 0 -9456.14 06:51:17 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214739.11,3642.5556,N,-12154.9592,W,1,03,00.5,077.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214740.00,3642.55568,N,12154.95909,W,1,12,0.9,-5.85,M,-32.59,M,,*72 : NMEA Update: $GPGGA,214740.11,3642.5557,N,-12154.9591,W,1,03,00.5,078.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214741.00,3642.55563,N,12154.95879,W,1,12,0.9,-5.32,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3770.001737 : TerrainNav update at dvl time = 3770.001737 : _navData-> (x,y) = (4063168.00, 596819.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214741.11,3642.5556,N,-12154.9588,W,1,03,00.5,078.2,M,-99.9,M,,*46 : Estimated North Bias at time = 3770.00 : -3.15 : Estimated East Bias at time = 3770.00 : 3.71 : Estimated Depth Bias at time = 3770.00 : -0.05 : Estimated northing and easting = 4063164.85 : 596823.26 : BluefinBatt Reply: $b3q0 d- 30.67 0.72 17.77 3.74 3.85 0 9111.78 06:51:20 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214742.00,3642.55560,N,12154.95827,W,1,12,0.9,-5.44,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214742.11,3642.5555,N,-12154.9582,W,1,03,00.5,077.4,M,-99.9,M,,*45 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214743.00,3642.55545,N,12154.95793,W,1,12,0.9,-5.87,M,-32.59,M,,*71 : NMEA Update: $GPGGA,214743.11,3642.5554,N,-12154.9579,W,1,03,00.5,077.0,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,214744.00,3642.55547,N,12154.95772,W,1,12,0.9,-5.92,M,-32.59,M,,*7F : NMEA Update: $GPGGA,214744.11,3642.5555,N,-12154.9577,W,1,03,00.5,077.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214745.00,3642.55545,N,12154.95766,W,1,12,0.9,-5.95,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214745.11,3642.5554,N,-12154.9577,W,1,03,00.5,077.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214746.00,3642.55534,N,12154.95726,W,1,13,0.9,-6.03,M,-32.59,M,,*72 : TerrainNav update at nav time = 3775.001395 : TerrainNav update at dvl time = 3775.001395 : _navData-> (x,y) = (4063167.43, 596821.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214746.11,3642.5553,N,-12154.9572,W,1,03,00.5,077.1,M,-99.9,M,,*4d : Estimated North Bias at time = 3775.00 : -3.12 : Estimated East Bias at time = 3775.00 : 3.73 : Estimated Depth Bias at time = 3775.00 : -0.05 : Estimated northing and easting = 4063164.31 : 596825.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214747.00,3642.55528,N,12154.95742,W,1,13,0.9,-6.46,M,-32.59,M,,*7D : NMEA Update: $GPGGA,214747.11,3642.5553,N,-12154.9575,W,1,03,00.5,078.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214748.00,3642.55547,N,12154.95709,W,1,13,0.9,-5.94,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214748.11,3642.5555,N,-12154.9571,W,1,03,00.5,080.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214749.00,3642.55535,N,12154.95685,W,1,13,0.9,-5.99,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.18 16.30 3.80 3.84 0 -9456.22 06:51:27 m : NMEA Update: $GPGGA,214749.11,3642.5553,N,-12154.9568,W,1,03,00.5,077.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214750.00,3642.55531,N,12154.95634,W,1,13,0.9,-5.77,M,-32.59,M,,*72 : NMEA Update: $GPGGA,214750.11,3642.5553,N,-12154.9563,W,1,03,00.5,079.4,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,214751.00,3642.55518,N,12154.95613,W,1,13,0.9,-5.74,M,-32.59,M,,*7E : TerrainNav update at nav time = 3780.001052 : TerrainNav update at dvl time = 3780.001052 : _navData-> (x,y) = (4063167.17, 596823.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214751.11,3642.5552,N,-12154.9561,W,1,03,00.5,077.3,M,-99.9,M,,*4a : Estimated North Bias at time = 3780.00 : -3.12 : Estimated East Bias at time = 3780.00 : 3.75 : Estimated Depth Bias at time = 3780.00 : -0.05 : Estimated northing and easting = 4063164.05 : 596827.35 : BluefinBatt Reply: $b3q0 d- 30.71 0.57 17.77 3.74 3.85 0 9111.73 06:51:30 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214752.00,3642.55513,N,12154.95578,W,1,13,0.9,-5.86,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214752.11,3642.5551,N,-12154.9558,W,1,03,00.5,076.6,M,-99.9,M,,*44 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214753.00,3642.55500,N,12154.95528,W,1,13,0.9,-5.90,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214753.11,3642.5550,N,-12154.9552,W,1,03,00.5,080.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214754.00,3642.55482,N,12154.95505,W,1,13,0.9,-6.18,M,-32.59,M,,*74 : NMEA Update: $GPGGA,214754.11,3642.5548,N,-12154.9550,W,1,03,00.5,076.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214755.00,3642.55489,N,12154.95484,W,1,13,0.9,-5.98,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214755.11,3642.5549,N,-12154.9548,W,1,03,00.5,076.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214756.00,3642.55474,N,12154.95470,W,1,13,0.9,-6.66,M,-32.59,M,,*75 : TerrainNav update at nav time = 3785.000710 : TerrainNav update at dvl time = 3785.000710 : _navData-> (x,y) = (4063166.41, 596825.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214756.11,3642.5547,N,-12154.9546,W,1,03,00.5,077.0,M,-99.9,M,,*4f : Estimated North Bias at time = 3785.00 : -3.07 : Estimated East Bias at time = 3785.00 : 3.72 : Estimated Depth Bias at time = 3785.00 : -0.05 : Estimated northing and easting = 4063163.34 : 596829.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214757.00,3642.55477,N,12154.95435,W,1,13,0.9,-6.82,M,-32.59,M,,*7C : NMEA Update: $GPGGA,214757.11,3642.5547,N,-12154.9543,W,1,03,00.5,076.5,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,214758.00,3642.55465,N,12154.95434,W,1,13,0.9,-6.75,M,-32.59,M,,*79 : NMEA Update: $GPGGA,214758.11,3642.5546,N,-12154.9543,W,1,03,00.5,078.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214759.00,3642.55465,N,12154.95427,W,1,13,0.9,-6.55,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.11 16.30 3.80 3.84 0 -9456.34 06:51:37 m : NMEA Update: $GPGGA,214759.11,3642.5546,N,-12154.9543,W,1,03,00.5,078.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214800.00,3642.55459,N,12154.95408,W,1,13,0.9,-6.10,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214800.11,3642.5546,N,-12154.9541,W,1,03,00.5,077.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214801.00,3642.55449,N,12154.95383,W,1,13,0.9,-6.36,M,-32.59,M,,*78 : TerrainNav update at nav time = 3790.000367 : TerrainNav update at dvl time = 3790.000367 : _navData-> (x,y) = (4063165.92, 596826.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214801.11,3642.5545,N,-12154.9538,W,1,03,00.5,079.3,M,-99.9,M,,*44 : Estimated North Bias at time = 3790.00 : -3.06 : Estimated East Bias at time = 3790.00 : 3.69 : Estimated Depth Bias at time = 3790.00 : -0.05 : Estimated northing and easting = 4063162.87 : 596830.64 : BluefinBatt Reply: $b3q0 d- 30.67 0.98 17.77 3.74 3.84 0 9111.65 06:51:40 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214802.00,3642.55452,N,12154.95346,W,1,13,0.9,-6.09,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214802.11,3642.5545,N,-12154.9534,W,1,03,00.5,078.2,M,-99.9,M,,*4b : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214803.00,3642.55439,N,12154.95341,W,1,13,0.9,-6.82,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214803.11,3642.5544,N,-12154.9534,W,1,03,00.5,077.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214804.00,3642.55433,N,12154.95310,W,1,12,0.9,-6.62,M,-32.59,M,,*7A : NMEA Update: $GPGGA,214804.11,3642.5543,N,-12154.9531,W,1,03,00.5,078.1,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,214805.00,3642.55404,N,12154.95282,W,1,13,0.9,-5.85,M,-32.59,M,,*7E : NMEA Update: $GPGGA,214805.11,3642.5540,N,-12154.9528,W,1,03,00.5,078.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214806.00,3642.55402,N,12154.95213,W,1,13,0.9,-5.89,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3795.000025 : TerrainNav update at dvl time = 3795.000025 : _navData-> (x,y) = (4063165.10, 596829.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214806.11,3642.5540,N,-12154.9520,W,1,03,00.5,077.9,M,-99.9,M,,*4b : Estimated North Bias at time = 3795.00 : -3.09 : Estimated East Bias at time = 3795.00 : 3.69 : Estimated Depth Bias at time = 3795.00 : -0.05 : Estimated northing and easting = 4063162.01 : 596833.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214807.00,3642.55399,N,12154.95165,W,1,13,0.9,-6.34,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214807.11,3642.5539,N,-12154.9515,W,1,03,00.5,078.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214808.00,3642.55400,N,12154.95136,W,1,13,0.9,-6.57,M,-32.59,M,,*77 : NMEA Update: $GPGGA,214808.11,3642.5540,N,-12154.9513,W,1,03,00.5,077.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214809.00,3642.55402,N,12154.95147,W,1,13,0.9,-6.59,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.14 16.30 3.79 3.84 0 -9456.42 06:51:47 m : NMEA Update: $GPGGA,214809.11,3642.5540,N,-12154.9515,W,1,03,00.5,077.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214810.00,3642.55396,N,12154.95138,W,1,13,0.9,-6.59,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214810.11,3642.5539,N,-12154.9514,W,1,03,00.5,079.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214811.00,3642.55384,N,12154.95130,W,1,13,0.9,-6.86,M,-32.59,M,,*7E : TerrainNav update at nav time = 3799.999682 : TerrainNav update at dvl time = 3799.999682 : _navData-> (x,y) = (4063164.75, 596830.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214811.11,3642.5538,N,-12154.9513,W,1,03,00.5,075.3,M,-99.9,M,,*4a : Estimated North Bias at time = 3800.00 : -3.09 : Estimated East Bias at time = 3800.00 : 3.69 : Estimated Depth Bias at time = 3800.00 : -0.05 : Estimated northing and easting = 4063161.66 : 596834.43 : BluefinBatt Reply: $b3q0 d- 30.67 1.02 17.77 3.74 3.84 0 9111.58 06:51:50 m : 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,214812.00,3642.55378,N,12154.95108,W,1,13,0.9,-6.77,M,-32.59,M,,*7B : NMEA Update: $GPGGA,214812.11,3642.5538,N,-12154.9511,W,1,03,00.5,077.8,M,-99.9,M,,*42 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,214813.00,3642.55357,N,12154.95093,W,1,13,0.9,-6.82,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214813.10,3642.5535,N,-12154.9509,W,1,03,00.5,077.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214814.00,3642.55353,N,12154.95048,W,1,13,0.9,-6.90,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214814.10,3642.5535,N,-12154.9504,W,1,03,00.5,077.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214815.00,3642.55342,N,12154.95037,W,1,13,0.9,-6.57,M,-32.59,M,,*7A : NMEA Update: $GPGGA,214815.10,3642.5534,N,-12154.9503,W,1,03,00.5,078.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214816.00,3642.55341,N,12154.95009,W,1,13,0.9,-6.63,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3804.999340 : TerrainNav update at dvl time = 3804.999340 : _navData-> (x,y) = (4063164.02, 596832.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214816.10,3642.5534,N,-12154.9500,W,1,03,00.5,077.9,M,-99.9,M,,*4a : Estimated North Bias at time = 3805.00 : -3.04 : Estimated East Bias at time = 3805.00 : 3.68 : Estimated Depth Bias at time = 3805.00 : -0.05 : Estimated northing and easting = 4063160.98 : 596836.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214817.00,3642.55338,N,12154.94983,W,1,13,0.9,-6.27,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214817.10,3642.5534,N,-12154.9498,W,1,03,00.5,078.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214818.00,3642.55327,N,12154.94948,W,1,13,0.9,-6.10,M,-32.59,M,,*77 : NMEA Update: $GPGGA,214818.10,3642.5532,N,-12154.9494,W,1,03,00.5,077.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214819.00,3642.55299,N,12154.94928,W,1,13,0.9,-6.24,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 30.49 2.00 16.30 3.79 3.84 0 -9456.60 06:51:57 m : NMEA Update: $GPGGA,214819.10,3642.5529,N,-12154.9492,W,1,03,00.5,076.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214820.00,3642.55287,N,12154.94914,W,1,13,0.9,-6.59,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214820.10,3642.5528,N,-12154.9491,W,1,03,00.5,077.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214821.00,3642.55282,N,12154.94891,W,1,13,0.9,-6.35,M,-32.59,M,,*71 : TerrainNav update at nav time = 3809.998997 : TerrainNav update at dvl time = 3809.998997 : _navData-> (x,y) = (4063162.94, 596834.31) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214821.10,3642.5528,N,-12154.9489,W,1,03,00.5,079.1,M,-99.9,M,,*45 : Estimated North Bias at time = 3810.00 : -3.06 : Estimated East Bias at time = 3810.00 : 3.72 : Estimated Depth Bias at time = 3810.00 : -0.05 : Estimated northing and easting = 4063159.88 : 596838.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 0.83 17.77 3.74 3.84 0 9111.47 06:52:00 m : AshtechGps::processRecord() - $GPGGA,214822.00,3642.55282,N,12154.94868,W,1,13,0.9,-6.30,M,-32.59,M,,*71 : NMEA Update: $GPGGA,214822.10,3642.5528,N,-12154.9486,W,1,03,00.5,078.5,M,-99.9,M,,*4c : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.765000 : AshtechGps::processRecord() - $GPGGA,214823.00,3642.55284,N,12154.94849,W,1,13,0.9,-6.45,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214823.10,3642.5529,N,-12154.9484,W,1,03,00.5,078.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214824.00,3642.55279,N,12154.94857,W,1,12,0.9,-6.80,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214824.10,3642.5528,N,-12154.9486,W,1,03,00.5,077.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214825.00,3642.55280,N,12154.94834,W,1,12,0.9,-6.67,M,-32.59,M,,*7E : NMEA Update: $GPGGA,214825.10,3642.5528,N,-12154.9483,W,1,03,00.5,076.8,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214826.00,3642.55262,N,12154.94832,W,1,12,0.9,-6.68,M,-32.59,M,,*78 : TerrainNav update at nav time = 3814.998655 : TerrainNav update at dvl time = 3814.998655 : _navData-> (x,y) = (4063162.60, 596835.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214826.10,3642.5526,N,-12154.9483,W,1,03,00.5,079.5,M,-99.9,M,,*42 : Estimated North Bias at time = 3815.00 : -3.06 : Estimated East Bias at time = 3815.00 : 3.68 : Estimated Depth Bias at time = 3815.00 : -0.05 : Estimated northing and easting = 4063159.53 : 596838.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214827.00,3642.55245,N,12154.94797,W,1,12,0.9,-6.76,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214827.10,3642.5524,N,-12154.9479,W,1,03,00.5,078.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214828.00,3642.55229,N,12154.94800,W,1,12,0.9,-6.73,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214828.10,3642.5523,N,-12154.9480,W,1,03,00.5,076.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214829.00,3642.55215,N,12154.94759,W,1,12,0.9,-6.47,M,-32.59,M,,*78 : BluefinBatt Reply: $aaq0 d- 30.57 1.41 16.30 3.80 3.84 0 -9456.70 06:52:07 m : NMEA Update: $GPGGA,214829.10,3642.5521,N,-12154.9475,W,1,03,00.5,077.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214830.00,3642.55180,N,12154.94731,W,1,12,0.9,-6.93,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214830.10,3642.5518,N,-12154.9472,W,1,03,00.5,076.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214831.00,3642.55174,N,12154.94719,W,1,12,0.9,-6.83,M,-32.59,M,,*79 : TerrainNav update at nav time = 3819.998312 : TerrainNav update at dvl time = 3819.998312 : _navData-> (x,y) = (4063160.97, 596836.97) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214831.10,3642.5518,N,-12154.9472,W,1,03,00.5,078.1,M,-99.9,M,,*42 : Estimated North Bias at time = 3820.00 : -3.11 : Estimated East Bias at time = 3820.00 : 3.74 : Estimated Depth Bias at time = 3820.00 : -0.05 : Estimated northing and easting = 4063157.86 : 596840.71 : BluefinBatt Reply: $b3q0 d- 30.67 1.21 17.77 3.74 3.84 0 9111.39 06:52:10 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214832.00,3642.55199,N,12154.94705,W,1,12,0.9,-7.53,M,-32.59,M,,*78 : NMEA Update: $GPGGA,214832.10,3642.5520,N,-12154.9470,W,1,03,00.5,079.3,M,-99.9,M,,*4b : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214833.00,3642.55187,N,12154.94686,W,1,12,0.9,-6.80,M,-32.59,M,,*73 : NMEA Update: $GPGGA,214833.10,3642.5519,N,-12154.9468,W,1,03,00.5,077.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214834.00,3642.55175,N,12154.94646,W,1,12,0.9,-7.03,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214834.10,3642.5517,N,-12154.9464,W,1,03,00.5,077.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214835.00,3642.55155,N,12154.94643,W,1,12,0.9,-7.22,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214835.10,3642.5515,N,-12154.9464,W,1,03,00.5,077.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214836.00,3642.55149,N,12154.94628,W,1,12,0.9,-7.50,M,-32.59,M,,*7C : TerrainNav update at nav time = 3824.997970 : TerrainNav update at dvl time = 3824.997970 : _navData-> (x,y) = (4063160.56, 596838.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214836.10,3642.5514,N,-12154.9463,W,1,03,00.5,077.3,M,-99.9,M,,*44 : Estimated North Bias at time = 3825.00 : -3.13 : Estimated East Bias at time = 3825.00 : 3.69 : Estimated Depth Bias at time = 3825.00 : -0.05 : Estimated northing and easting = 4063157.43 : 596841.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214837.00,3642.55120,N,12154.94639,W,1,12,0.9,-7.42,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214837.10,3642.5512,N,-12154.9464,W,1,03,00.5,077.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214838.00,3642.55097,N,12154.94602,W,1,12,0.9,-6.43,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214838.10,3642.5509,N,-12154.9460,W,1,03,00.5,078.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214839.00,3642.55077,N,12154.94566,W,1,12,0.9,-6.47,M,-32.59,M,,*71 : BluefinBatt Reply: $aaq0 d- 30.57 1.14 16.30 3.80 3.84 0 -9456.83 06:52:17 m : NMEA Update: $GPGGA,214839.10,3642.5508,N,-12154.9456,W,1,03,00.5,077.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214840.00,3642.55080,N,12154.94557,W,1,12,0.9,-6.88,M,-32.59,M,,*76 : NMEA Update: $GPGGA,214840.10,3642.5508,N,-12154.9456,W,1,03,00.5,078.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214841.00,3642.55084,N,12154.94524,W,1,12,0.9,-7.00,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3829.997627 : TerrainNav update at dvl time = 3829.997627 : _navData-> (x,y) = (4063159.37, 596839.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214841.10,3642.5508,N,-12154.9452,W,1,03,00.5,077.1,M,-99.9,M,,*49 : Estimated North Bias at time = 3830.00 : -3.08 : Estimated East Bias at time = 3830.00 : 3.72 : Estimated Depth Bias at time = 3830.00 : -0.05 : Estimated northing and easting = 4063156.29 : 596843.51 : BluefinBatt Reply: $b3q0 d- 30.71 0.45 17.77 3.74 3.84 0 9111.32 06:52:20 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214842.00,3642.55078,N,12154.94510,W,1,13,0.9,-7.44,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214842.10,3642.5508,N,-12154.9451,W,1,03,00.5,078.9,M,-99.9,M,,*4e : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214843.00,3642.55065,N,12154.94466,W,1,12,0.9,-6.79,M,-32.59,M,,*73 : NMEA Update: $GPGGA,214843.10,3642.5506,N,-12154.9446,W,1,03,00.5,078.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214844.00,3642.55043,N,12154.94445,W,1,12,0.9,-7.28,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214844.10,3642.5504,N,-12154.9444,W,1,03,00.5,076.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214845.00,3642.55040,N,12154.94445,W,1,12,0.9,-7.60,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214845.10,3642.5504,N,-12154.9445,W,1,03,00.5,077.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214846.00,3642.55025,N,12154.94454,W,1,12,0.9,-6.93,M,-32.59,M,,*77 : TerrainNav update at nav time = 3834.997285 : TerrainNav update at dvl time = 3834.997285 : _navData-> (x,y) = (4063158.30, 596840.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214846.10,3642.5503,N,-12154.9446,W,1,03,00.5,075.1,M,-99.9,M,,*42 : Estimated North Bias at time = 3835.00 : -3.10 : Estimated East Bias at time = 3835.00 : 3.71 : Estimated Depth Bias at time = 3835.00 : -0.05 : Estimated northing and easting = 4063155.20 : 596844.47 : 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,214847.00,3642.54990,N,12154.94410,W,1,12,0.9,-6.43,M,-32.59,M,,*7D : NMEA Update: $GPGGA,214847.10,3642.5498,N,-12154.9441,W,1,03,00.5,080.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214848.00,3642.54958,N,12154.94361,W,1,12,0.9,-6.58,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214848.10,3642.5496,N,-12154.9435,W,1,03,00.5,077.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214849.00,3642.54954,N,12154.94337,W,1,12,0.9,-6.49,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 30.57 1.07 16.30 3.80 3.84 0 -9456.91 06:52:27 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214849.10,3642.5496,N,-12154.9433,W,1,03,00.5,076.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214850.00,3642.54950,N,12154.94323,W,1,12,0.9,-6.61,M,-32.59,M,,*70 : NMEA Update: $GPGGA,214850.10,3642.5495,N,-12154.9432,W,1,03,00.5,079.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214851.00,3642.54946,N,12154.94307,W,1,12,0.9,-6.91,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3839.996942 : TerrainNav update at dvl time = 3839.996942 : _navData-> (x,y) = (4063156.84, 596843.08) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214851.10,3642.5494,N,-12154.9430,W,1,03,00.5,077.7,M,-99.9,M,,*4e : Estimated North Bias at time = 3840.00 : -3.07 : Estimated East Bias at time = 3840.00 : 3.66 : Estimated Depth Bias at time = 3840.00 : -0.05 : Estimated northing and easting = 4063153.77 : 596846.74 : BluefinBatt Reply: $b3q0 d- 30.67 0.72 17.87 3.74 3.84 0 9111.27 06:52:30 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214852.00,3642.54930,N,12154.94300,W,1,12,0.9,-6.88,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214852.10,3642.5493,N,-12154.9430,W,1,03,00.5,078.0,M,-99.9,M,,*42 : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214853.00,3642.54926,N,12154.94290,W,1,13,0.9,-6.54,M,-32.59,M,,*7C : NMEA Update: $GPGGA,214853.10,3642.5493,N,-12154.9429,W,1,03,00.5,078.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214854.00,3642.54919,N,12154.94278,W,1,13,0.9,-6.27,M,-32.59,M,,*75 : NMEA Update: $GPGGA,214854.10,3642.5492,N,-12154.9428,W,1,03,00.5,077.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214855.00,3642.54907,N,12154.94218,W,1,13,0.9,-5.72,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214855.10,3642.5490,N,-12154.9421,W,1,03,00.5,077.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214856.00,3642.54876,N,12154.94161,W,1,13,0.9,-6.14,M,-32.59,M,,*74 : TerrainNav update at nav time = 3844.996600 : TerrainNav update at dvl time = 3844.996600 : _navData-> (x,y) = (4063155.48, 596845.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214856.10,3642.5487,N,-12154.9415,W,1,03,00.5,078.5,M,-99.9,M,,*41 : Estimated North Bias at time = 3845.00 : -3.09 : Estimated East Bias at time = 3845.00 : 3.60 : Estimated Depth Bias at time = 3845.00 : -0.05 : Estimated northing and easting = 4063152.39 : 596849.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214857.00,3642.54874,N,12154.94141,W,1,13,0.9,-6.69,M,-32.59,M,,*7F : NMEA Update: $GPGGA,214857.10,3642.5488,N,-12154.9414,W,1,03,00.5,078.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214858.00,3642.54877,N,12154.94149,W,1,13,0.9,-6.40,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214858.10,3642.5488,N,-12154.9415,W,1,03,00.5,077.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214859.00,3642.54886,N,12154.94124,W,1,11,1.0,-5.63,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.14 16.30 3.80 3.84 0 -9457.03 06:52:37 m : NMEA Update: $GPGGA,214859.10,3642.5488,N,-12154.9412,W,1,03,00.5,077.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214900.00,3642.54806,N,12154.94157,W,1,13,0.9,-6.73,M,-32.59,M,,*75 : NMEA Update: $GPGGA,214900.10,3642.5480,N,-12154.9415,W,1,03,00.5,076.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214901.00,3642.54795,N,12154.94127,W,1,12,0.9,-7.53,M,-32.59,M,,*74 : TerrainNav update at nav time = 3849.996257 : TerrainNav update at dvl time = 3849.996257 : _navData-> (x,y) = (4063154.09, 596845.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214901.10,3642.5479,N,-12154.9413,W,1,03,00.5,079.1,M,-99.9,M,,*40 : Estimated North Bias at time = 3850.00 : -3.08 : Estimated East Bias at time = 3850.00 : 3.63 : Estimated Depth Bias at time = 3850.00 : -0.05 : Estimated northing and easting = 4063151.01 : 596849.45 : BluefinBatt Reply: $b3q0 d- 30.71 0.45 17.77 3.74 3.85 0 9111.20 06:52:40 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214902.00,3642.54797,N,12154.94111,W,1,12,0.9,-7.27,M,-32.59,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214902.10,3642.5479,N,-12154.9411,W,1,03,00.5,076.2,M,-99.9,M,,*4d : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214903.00,3642.54742,N,12154.94109,W,1,13,0.9,-7.27,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214903.10,3642.5474,N,-12154.9411,W,1,03,00.5,078.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214904.00,3642.54778,N,12154.94055,W,1,13,0.9,-6.68,M,-32.59,M,,*7E : NMEA Update: $GPGGA,214904.10,3642.5478,N,-12154.9405,W,1,03,00.5,078.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214905.00,3642.54784,N,12154.94021,W,1,13,0.9,-7.05,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214905.10,3642.5479,N,-12154.9401,W,1,03,00.5,076.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,214906.00,3642.54786,N,12154.94010,W,1,13,0.9,-7.25,M,-32.59,M,,*74 : TerrainNav update at nav time = 3854.995915 : TerrainNav update at dvl time = 3854.995915 : _navData-> (x,y) = (4063154.01, 596847.59) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214906.10,3642.5478,N,-12154.9401,W,1,03,00.5,078.1,M,-99.9,M,,*44 : Estimated North Bias at time = 3855.00 : -3.13 : Estimated East Bias at time = 3855.00 : 3.64 : Estimated Depth Bias at time = 3855.00 : -0.05 : Estimated northing and easting = 4063150.88 : 596851.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214907.00,3642.54773,N,12154.93993,W,1,13,0.9,-7.24,M,-32.59,M,,*7B : NMEA Update: $GPGGA,214907.10,3642.5477,N,-12154.9399,W,1,03,00.5,076.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214908.00,3642.54744,N,12154.93959,W,1,13,0.9,-6.62,M,-32.59,M,,*75 : NMEA Update: $GPGGA,214908.10,3642.5474,N,-12154.9396,W,1,03,00.5,077.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214909.00,3642.54721,N,12154.93931,W,1,13,0.9,-6.92,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 2.03 16.30 3.80 3.84 0 -9457.16 06:52:47 m : NMEA Update: $GPGGA,214909.10,3642.5471,N,-12154.9393,W,1,03,00.5,078.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,214910.00,3642.54717,N,12154.93911,W,1,13,0.9,-7.26,M,-32.59,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214910.10,3642.5472,N,-12154.9391,W,1,03,00.5,078.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,214911.00,3642.54734,N,12154.93883,W,1,13,0.9,-6.71,M,-32.59,M,,*7E : TerrainNav update at nav time = 3859.995572 : TerrainNav update at dvl time = 3859.995572 : _navData-> (x,y) = (4063153.01, 596849.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214911.10,3642.5473,N,-12154.9388,W,1,03,00.5,078.8,M,-99.9,M,,*46 : Estimated North Bias at time = 3860.00 : -3.15 : Estimated East Bias at time = 3860.00 : 3.59 : Estimated Depth Bias at time = 3860.00 : -0.05 : Estimated northing and easting = 4063149.86 : 596853.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.71 0.53 17.77 3.74 3.85 0 9111.13 06:52:50 m : AshtechGps::processRecord() - $GPGGA,214912.00,3642.54728,N,12154.93835,W,1,13,0.9,-6.67,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214912.10,3642.5472,N,-12154.9383,W,1,03,00.5,077.6,M,-99.9,M,,*4e : batts online 2, min cell voltage 3.740000, mean min cell voltage 3.770000 : AshtechGps::processRecord() - $GPGGA,214913.00,3642.54727,N,12154.93817,W,1,13,0.9,-7.02,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214913.10,3642.5473,N,-12154.9381,W,1,03,00.5,078.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214914.00,3642.54738,N,12154.93787,W,1,13,0.9,-6.64,M,-32.59,M,,*78 : NMEA Update: $GPGGA,214914.10,3642.5474,N,-12154.9378,W,1,03,00.5,076.9,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,214915.00,3642.54735,N,12154.93777,W,1,12,0.9,-5.94,M,-32.59,M,,*76 : NMEA Update: $GPGGA,214915.10,3642.5473,N,-12154.9377,W,1,03,00.5,078.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214916.00,3642.54729,N,12154.93745,W,1,13,0.9,-6.57,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3864.995230 : TerrainNav update at dvl time = 3864.995230 : _navData-> (x,y) = (4063152.93, 596851.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214916.10,3642.5473,N,-12154.9374,W,1,03,00.5,077.5,M,-99.9,M,,*40 : Estimated North Bias at time = 3865.00 : -3.19 : Estimated East Bias at time = 3865.00 : 3.53 : Estimated Depth Bias at time = 3865.00 : -0.05 : Estimated northing and easting = 4063149.74 : 596855.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214917.00,3642.54725,N,12154.93727,W,1,13,0.9,-6.35,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214917.10,3642.5472,N,-12154.9372,W,1,03,00.5,078.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214918.00,3642.54708,N,12154.93724,W,1,13,0.9,-6.47,M,-32.59,M,,*7F : NMEA Update: $GPGGA,214918.10,3642.5471,N,-12154.9372,W,1,03,00.5,077.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,214919.00,3642.54710,N,12154.93700,W,1,13,0.9,-6.39,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.03 16.30 3.80 3.84 0 -9457.30 06:52:57 m : NMEA Update: $GPGGA,214919.10,3642.5471,N,-12154.9370,W,1,03,00.5,078.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214920.00,3642.54696,N,12154.93667,W,1,13,0.9,-6.19,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214920.10,3642.5469,N,-12154.9366,W,1,03,00.5,078.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214921.00,3642.54659,N,12154.93645,W,1,13,0.9,-7.20,M,-32.59,M,,*76 : TerrainNav update at nav time = 3869.994887 : TerrainNav update at dvl time = 3869.994887 : _navData-> (x,y) = (4063151.58, 596853.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214921.10,3642.5465,N,-12154.9364,W,1,03,00.5,077.8,M,-99.9,M,,*4f : Estimated North Bias at time = 3869.99 : -3.19 : Estimated East Bias at time = 3869.99 : 3.50 : Estimated Depth Bias at time = 3869.99 : -0.05 : Estimated northing and easting = 4063148.39 : 596856.54 : BluefinBatt Reply: $b3q0 d- 30.71 0.49 17.87 3.75 3.85 0 9111.04 06:53:00 m : 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,214922.00,3642.54668,N,12154.93595,W,1,13,0.9,-6.60,M,-32.59,M,,*7C : NMEA Update: $GPGGA,214922.10,3642.5467,N,-12154.9359,W,1,03,00.5,078.2,M,-99.9,M,,*45 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,214923.00,3642.54656,N,12154.93576,W,1,13,0.9,-7.11,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214923.10,3642.5465,N,-12154.9357,W,1,03,00.5,077.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214924.00,3642.54665,N,12154.93541,W,1,13,0.9,-7.34,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214924.10,3642.5467,N,-12154.9354,W,1,03,00.5,077.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214925.00,3642.54655,N,12154.93576,W,1,13,0.9,-7.93,M,-32.59,M,,*75 : NMEA Update: $GPGGA,214925.11,3642.5466,N,-12154.9358,W,1,03,00.5,076.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214926.00,3642.54673,N,12154.93534,W,1,13,0.9,-6.90,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3874.994545 : TerrainNav update at dvl time = 3874.994545 : _navData-> (x,y) = (4063151.95, 596854.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214926.11,3642.5467,N,-12154.9353,W,1,03,00.5,076.0,M,-99.9,M,,*46 : Estimated North Bias at time = 3874.99 : -3.19 : Estimated East Bias at time = 3874.99 : 3.54 : Estimated Depth Bias at time = 3874.99 : -0.05 : Estimated northing and easting = 4063148.76 : 596858.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214927.00,3642.54642,N,12154.93489,W,1,13,0.9,-6.86,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214927.11,3642.5464,N,-12154.9348,W,1,03,00.5,076.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,214928.00,3642.54633,N,12154.93456,W,1,13,0.9,-7.55,M,-32.59,M,,*71 : NMEA Update: $GPGGA,214928.11,3642.5463,N,-12154.9345,W,1,03,00.5,078.3,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214929.00,3642.54629,N,12154.93447,W,1,13,0.9,-7.50,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 30.57 1.59 16.30 3.80 3.84 0 -9457.37 06:53:07 m : NMEA Update: $GPGGA,214929.11,3642.5463,N,-12154.9345,W,1,03,00.5,077.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214930.00,3642.54633,N,12154.93429,W,1,13,0.9,-7.46,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214930.11,3642.5463,N,-12154.9343,W,1,03,00.5,078.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,214931.00,3642.54621,N,12154.93391,W,1,13,0.9,-7.32,M,-32.59,M,,*77 : TerrainNav update at nav time = 3879.994202 : TerrainNav update at dvl time = 3879.994202 : _navData-> (x,y) = (4063150.96, 596856.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214931.11,3642.5462,N,-12154.9339,W,1,03,00.5,077.7,M,-99.9,M,,*4f : BluefinBatt Reply: $b3q0 d- 30.71 0.53 17.87 3.75 3.85 0 9111.00 06:53:10 m : Estimated North Bias at time = 3879.99 : -3.12 : Estimated East Bias at time = 3879.99 : 3.55 : Estimated Depth Bias at time = 3879.99 : -0.05 : Estimated northing and easting = 4063147.83 : 596860.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214932.00,3642.54630,N,12154.93380,W,1,13,0.9,-7.40,M,-32.59,M,,*71 : NMEA Update: $GPGGA,214932.11,3642.5463,N,-12154.9338,W,1,03,00.5,079.4,M,-99.9,M,,*41 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,214933.00,3642.54637,N,12154.93347,W,1,13,0.9,-7.47,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214933.11,3642.5464,N,-12154.9335,W,1,03,00.5,076.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214934.00,3642.54619,N,12154.93312,W,1,13,0.9,-7.17,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214934.11,3642.5462,N,-12154.9330,W,1,03,00.5,078.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,214935.00,3642.54606,N,12154.93300,W,1,13,0.9,-7.04,M,-32.59,M,,*7B : NMEA Update: $GPGGA,214935.11,3642.5460,N,-12154.9329,W,1,03,00.5,079.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214936.00,3642.54587,N,12154.93301,W,1,13,0.9,-7.42,M,-32.59,M,,*71 : TerrainNav update at nav time = 3884.993860 : TerrainNav update at dvl time = 3884.993860 : _navData-> (x,y) = (4063150.37, 596858.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214936.11,3642.5459,N,-12154.9330,W,1,03,00.5,077.8,M,-99.9,M,,*46 : Estimated North Bias at time = 3884.99 : -3.17 : Estimated East Bias at time = 3884.99 : 3.59 : Estimated Depth Bias at time = 3884.99 : -0.05 : Estimated northing and easting = 4063147.20 : 596861.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214937.00,3642.54565,N,12154.93285,W,1,13,0.9,-7.07,M,-32.59,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214937.11,3642.5456,N,-12154.9328,W,1,03,00.5,078.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214938.00,3642.54552,N,12154.93245,W,1,13,0.9,-7.15,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214938.11,3642.5455,N,-12154.9324,W,1,03,00.5,077.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,214939.00,3642.54553,N,12154.93194,W,1,13,0.9,-6.77,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 30.57 1.03 16.30 3.80 3.84 0 -9457.49 06:53:17 m : NMEA Update: $GPGGA,214939.11,3642.5455,N,-12154.9319,W,1,03,00.5,077.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,214940.00,3642.54543,N,12154.93175,W,1,13,0.9,-7.03,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214940.11,3642.5454,N,-12154.9317,W,1,03,00.5,077.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214941.00,3642.54577,N,12154.93132,W,1,13,0.9,-5.71,M,-32.59,M,,*7E : TerrainNav update at nav time = 3889.993517 : TerrainNav update at dvl time = 3889.993517 : _navData-> (x,y) = (4063150.21, 596860.65) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214941.11,3642.5458,N,-12154.9313,W,1,03,00.5,077.1,M,-99.9,M,,*4f : Estimated North Bias at time = 3889.99 : -3.18 : Estimated East Bias at time = 3889.99 : 3.63 : Estimated Depth Bias at time = 3889.99 : -0.05 : Estimated northing and easting = 4063147.03 : 596864.28 : BluefinBatt Reply: $b3q0 d- 30.67 1.06 17.87 3.75 3.85 0 9110.95 06:53:20 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214942.00,3642.54575,N,12154.93100,W,1,13,0.9,-6.32,M,-32.59,M,,*7A : NMEA Update: $GPGGA,214942.11,3642.5457,N,-12154.9309,W,1,03,00.5,077.8,M,-99.9,M,,*41 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214943.00,3642.54572,N,12154.93088,W,1,13,0.9,-6.19,M,-32.59,M,,*74 : NMEA Update: $GPGGA,214943.11,3642.5457,N,-12154.9308,W,1,03,00.5,077.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214944.00,3642.54566,N,12154.93082,W,1,12,0.9,-5.86,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214944.11,3642.5456,N,-12154.9308,W,1,03,00.5,077.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214945.00,3642.54556,N,12154.93065,W,1,12,0.9,-5.65,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214945.11,3642.5455,N,-12154.9306,W,1,03,00.5,076.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,214946.00,3642.54555,N,12154.93027,W,1,12,0.9,-5.66,M,-32.59,M,,*7B : TerrainNav update at nav time = 3894.993175 : TerrainNav update at dvl time = 3894.993175 : _navData-> (x,y) = (4063149.81, 596862.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214946.11,3642.5455,N,-12154.9302,W,1,03,00.5,077.8,M,-99.9,M,,*4c : Estimated North Bias at time = 3894.99 : -3.14 : Estimated East Bias at time = 3894.99 : 3.62 : Estimated Depth Bias at time = 3894.99 : -0.05 : Estimated northing and easting = 4063146.67 : 596865.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214947.00,3642.54545,N,12154.93018,W,1,12,0.9,-5.48,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214947.11,3642.5455,N,-12154.9301,W,1,03,00.5,077.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,214948.00,3642.54540,N,12154.92978,W,1,12,0.9,-5.52,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214948.11,3642.5454,N,-12154.9298,W,1,03,00.5,077.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,214949.00,3642.54516,N,12154.92986,W,1,12,0.9,-5.68,M,-32.59,M,,*7E : BluefinBatt Reply: $aaq0 d- 30.57 1.03 16.30 3.80 3.84 0 -9457.56 06:53:27 m : NMEA Update: $GPGGA,214949.11,3642.5451,N,-12154.9299,W,1,03,00.5,077.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,214950.00,3642.54524,N,12154.92959,W,1,12,0.9,-5.18,M,-32.59,M,,*72 : NMEA Update: $GPGGA,214950.11,3642.5452,N,-12154.9296,W,1,03,00.5,074.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214951.00,3642.54511,N,12154.92933,W,1,12,0.9,-4.70,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3900.002832 : TerrainNav update at dvl time = 3900.002832 : _navData-> (x,y) = (4063148.98, 596863.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214951.11,3642.5451,N,-12154.9293,W,1,03,00.5,080.3,M,-99.9,M,,*44 : Estimated North Bias at time = 3900.00 : -3.14 : Estimated East Bias at time = 3900.00 : 3.67 : Estimated Depth Bias at time = 3900.00 : -0.05 : Estimated northing and easting = 4063145.84 : 596867.30 : BluefinBatt Reply: $b3q0 d- 30.71 0.45 17.77 3.75 3.85 0 9110.91 06:53:30 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,214952.00,3642.54504,N,12154.92860,W,1,12,0.9,-4.22,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214952.11,3642.5450,N,-12154.9285,W,1,03,00.5,078.9,M,-99.9,M,,*4c : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,214953.00,3642.54489,N,12154.92799,W,1,12,0.9,-4.73,M,-32.59,M,,*79 : NMEA Update: $GPGGA,214953.11,3642.5449,N,-12154.9279,W,1,03,00.5,075.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,214954.00,3642.54487,N,12154.92778,W,1,12,0.9,-5.44,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214954.11,3642.5449,N,-12154.9278,W,1,03,00.5,081.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214955.00,3642.54481,N,12154.92781,W,1,12,0.9,-5.65,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214955.11,3642.5448,N,-12154.9278,W,1,03,00.5,077.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,214956.00,3642.54457,N,12154.92794,W,1,12,0.9,-6.05,M,-32.59,M,,*71 : TerrainNav update at nav time = 3905.002489 : TerrainNav update at dvl time = 3905.002489 : _navData-> (x,y) = (4063148.00, 596865.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,214956.11,3642.5445,N,-12154.9279,W,1,03,00.5,077.7,M,-99.9,M,,*4e : Estimated North Bias at time = 3905.00 : -3.15 : Estimated East Bias at time = 3905.00 : 3.71 : Estimated Depth Bias at time = 3905.00 : -0.05 : Estimated northing and easting = 4063144.85 : 596869.38 : 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,214957.00,3642.54468,N,12154.92772,W,1,12,0.9,-6.35,M,-32.59,M,,*77 : NMEA Update: $GPGGA,214957.11,3642.5447,N,-12154.9277,W,1,03,00.5,076.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,214958.00,3642.54453,N,12154.92783,W,1,12,0.9,-5.63,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214958.11,3642.5445,N,-12154.9278,W,1,03,00.5,079.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,214959.00,3642.54466,N,12154.92746,W,1,12,0.9,-5.47,M,-32.59,M,,*76 : BluefinBatt Reply: $aaq0 d- 30.49 2.44 16.30 3.80 3.84 0 -9457.71 06:53:37 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,214959.11,3642.5447,N,-12154.9274,W,1,03,00.5,076.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215000.00,3642.54465,N,12154.92723,W,1,12,0.9,-5.13,M,-32.59,M,,*73 : NMEA Update: $GPGGA,215000.11,3642.5447,N,-12154.9272,W,1,03,00.5,078.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215001.00,3642.54461,N,12154.92677,W,1,12,0.9,-4.94,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3910.002147 : TerrainNav update at dvl time = 3910.002147 : _navData-> (x,y) = (4063148.12, 596867.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,215001.11,3642.5446,N,-12154.9267,W,1,03,00.5,079.5,M,-99.9,M,,*44 : Estimated North Bias at time = 3910.00 : -3.17 : Estimated East Bias at time = 3910.00 : 3.74 : Estimated Depth Bias at time = 3910.00 : -0.05 : Estimated northing and easting = 4063144.95 : 596871.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 0.53 17.77 3.75 3.85 0 9110.86 06:53:40 m : AshtechGps::processRecord() - $GPGGA,215002.00,3642.54444,N,12154.92639,W,1,12,0.9,-4.98,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215002.11,3642.5444,N,-12154.9263,W,1,03,00.5,077.6,M,-99.9,M,,*4c : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,215003.00,3642.54427,N,12154.92608,W,1,12,0.9,-5.05,M,-32.59,M,,*79 : NMEA Update: $GPGGA,215003.11,3642.5442,N,-12154.9260,W,1,03,00.5,077.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,215004.00,3642.54418,N,12154.92570,W,1,12,0.9,-5.31,M,-32.59,M,,*79 : NMEA Update: $GPGGA,215004.11,3642.5441,N,-12154.9256,W,1,03,00.5,077.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,215005.00,3642.54407,N,12154.92546,W,1,12,0.9,-5.65,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215005.11,3642.5441,N,-12154.9254,W,1,03,00.5,076.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215006.00,3642.54409,N,12154.92535,W,1,12,0.9,-6.13,M,-32.59,M,,*79 : TerrainNav update at nav time = 3915.001804 : TerrainNav update at dvl time = 3915.001804 : _navData-> (x,y) = (4063147.20, 596869.55) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215006.11,3642.5441,N,-12154.9254,W,1,03,00.5,076.6,M,-99.9,M,,*48 : Estimated North Bias at time = 3915.00 : -3.15 : Estimated East Bias at time = 3915.00 : 3.77 : Estimated Depth Bias at time = 3915.00 : -0.05 : Estimated northing and easting = 4063144.05 : 596873.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,215007.00,3642.54409,N,12154.92540,W,1,12,0.9,-6.35,M,-32.59,M,,*7E : NMEA Update: $GPGGA,215007.11,3642.5441,N,-12154.9254,W,1,03,00.5,075.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215008.00,3642.54402,N,12154.92555,W,1,12,0.9,-6.13,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215008.11,3642.5440,N,-12154.9256,W,1,03,00.5,079.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215009.00,3642.54399,N,12154.92545,W,1,12,0.9,-5.36,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.07 16.30 3.80 3.84 0 -9457.78 06:53:47 m : NMEA Update: $GPGGA,215009.11,3642.5440,N,-12154.9255,W,1,03,00.5,077.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215010.00,3642.54394,N,12154.92516,W,1,12,0.9,-5.23,M,-32.59,M,,*7C : NMEA Update: $GPGGA,215010.11,3642.5439,N,-12154.9251,W,1,03,00.5,077.1,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,215011.00,3642.54384,N,12154.92470,W,1,12,0.9,-5.12,M,-32.59,M,,*7F : TerrainNav update at nav time = 3920.001462 : TerrainNav update at dvl time = 3920.001462 : _navData-> (x,y) = (4063146.77, 596870.64) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,215011.11,3642.5438,N,-12154.9246,W,1,03,00.5,078.8,M,-99.9,M,,*43 : Estimated North Bias at time = 3920.00 : -3.15 : Estimated East Bias at time = 3920.00 : 3.80 : Estimated Depth Bias at time = 3920.00 : -0.05 : Estimated northing and easting = 4063143.62 : 596874.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 1.51 17.77 3.75 3.85 0 9110.80 06:53:50 m : AshtechGps::processRecord() - $GPGGA,215012.00,3642.54377,N,12154.92428,W,1,12,0.9,-5.31,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215012.11,3642.5437,N,-12154.9242,W,1,03,00.5,077.9,M,-99.9,M,,*45 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,215013.00,3642.54366,N,12154.92396,W,1,12,0.9,-5.17,M,-32.59,M,,*7B : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215013.11,3642.5437,N,-12154.9239,W,1,03,00.5,078.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215014.00,3642.54360,N,12154.92362,W,1,12,0.9,-5.49,M,-32.59,M,,*7A : NMEA Update: $GPGGA,215014.11,3642.5435,N,-12154.9236,W,1,03,00.5,078.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215015.00,3642.54361,N,12154.92351,W,1,12,0.9,-5.87,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215015.11,3642.5436,N,-12154.9235,W,1,03,00.5,074.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215016.00,3642.54360,N,12154.92361,W,1,12,0.9,-5.55,M,-32.59,M,,*76 : TerrainNav update at nav time = 3925.001119 : TerrainNav update at dvl time = 3925.001119 : _navData-> (x,y) = (4063146.39, 596872.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215016.11,3642.5436,N,-12154.9236,W,1,03,00.5,077.3,M,-99.9,M,,*49 : Estimated North Bias at time = 3925.00 : -3.19 : Estimated East Bias at time = 3925.00 : 3.81 : Estimated Depth Bias at time = 3925.00 : -0.05 : Estimated northing and easting = 4063143.20 : 596875.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,215017.00,3642.54363,N,12154.92339,W,1,12,0.9,-5.44,M,-32.59,M,,*79 : NMEA Update: $GPGGA,215017.11,3642.5436,N,-12154.9234,W,1,03,00.5,079.8,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,215018.00,3642.54343,N,12154.92327,W,1,12,0.9,-5.00,M,-32.59,M,,*7B : NMEA Update: $GPGGA,215018.11,3642.5434,N,-12154.9232,W,1,03,00.5,076.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,215019.00,3642.54330,N,12154.92270,W,1,12,0.9,-5.00,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.26 16.30 3.80 3.84 0 -9457.93 06:53:57 m : NMEA Update: $GPGGA,215019.11,3642.5433,N,-12154.9226,W,1,03,00.5,079.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215020.00,3642.54311,N,12154.92255,W,1,11,0.9,-4.91,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215020.11,3642.5431,N,-12154.9225,W,1,03,00.5,078.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,215021.00,3642.54311,N,12154.92204,W,1,12,0.9,-5.21,M,-32.59,M,,*75 : TerrainNav update at nav time = 3930.000777 : TerrainNav update at dvl time = 3930.000777 : _navData-> (x,y) = (4063145.45, 596874.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,215021.11,3642.5431,N,-12154.9220,W,1,03,00.5,077.6,M,-99.9,M,,*48 : Estimated North Bias at time = 3930.00 : -3.20 : Estimated East Bias at time = 3930.00 : 3.78 : Estimated Depth Bias at time = 3930.00 : -0.05 : Estimated northing and easting = 4063142.25 : 596878.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.71 0.53 17.77 3.75 3.85 0 9110.72 06:54:00 m : AshtechGps::processRecord() - $GPGGA,215022.00,3642.54293,N,12154.92183,W,1,12,0.9,-5.78,M,-32.59,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215022.11,3642.5429,N,-12154.9218,W,1,03,00.5,077.9,M,-99.9,M,,*46 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,215023.00,3642.54288,N,12154.92181,W,1,12,0.9,-6.13,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215023.11,3642.5429,N,-12154.9218,W,1,03,00.5,077.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215024.00,3642.54287,N,12154.92190,W,1,12,0.9,-5.80,M,-32.59,M,,*7B : NMEA Update: $GPGGA,215024.11,3642.5429,N,-12154.9219,W,1,03,00.5,077.3,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,215025.00,3642.54282,N,12154.92171,W,1,12,0.9,-5.56,M,-32.59,M,,*7B : NMEA Update: $GPGGA,215025.11,3642.5428,N,-12154.9217,W,1,03,00.5,077.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215026.00,3642.54277,N,12154.92153,W,1,12,0.9,-5.43,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3935.000434 : TerrainNav update at dvl time = 3935.000434 : _navData-> (x,y) = (4063144.85, 596875.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,215026.11,3642.5428,N,-12154.9215,W,1,03,00.5,076.8,M,-99.9,M,,*4e : Estimated North Bias at time = 3935.00 : -3.19 : Estimated East Bias at time = 3935.00 : 3.75 : Estimated Depth Bias at time = 3935.00 : -0.05 : Estimated northing and easting = 4063141.66 : 596879.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,215027.00,3642.54277,N,12154.92117,W,1,12,0.9,-4.80,M,-32.59,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215027.11,3642.5428,N,-12154.9211,W,1,03,00.5,076.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215028.00,3642.54257,N,12154.92072,W,1,12,0.9,-4.69,M,-32.59,M,,*71 : NMEA Update: $GPGGA,215028.11,3642.5425,N,-12154.9206,W,1,03,00.5,077.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215029.00,3642.54241,N,12154.92036,W,1,12,0.9,-4.86,M,-32.59,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : BluefinBatt Reply: $aaq0 d- 30.57 1.03 16.30 3.80 3.84 0 -9458.00 06:54:07 m : NMEA Update: $GPGGA,215029.11,3642.5424,N,-12154.9203,W,1,03,00.5,079.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215030.00,3642.54233,N,12154.92011,W,1,12,0.9,-4.62,M,-32.59,M,,*74 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215030.11,3642.5423,N,-12154.9201,W,1,03,00.5,079.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,215031.00,3642.54216,N,12154.91998,W,1,12,0.9,-5.21,M,-32.59,M,,*7F : TerrainNav update at nav time = 3940.000092 : TerrainNav update at dvl time = 3940.000092 : _navData-> (x,y) = (4063143.68, 596877.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,215031.11,3642.5421,N,-12154.9199,W,1,03,00.5,076.7,M,-99.9,M,,*49 : Estimated North Bias at time = 3940.00 : -3.18 : Estimated East Bias at time = 3940.00 : 3.77 : Estimated Depth Bias at time = 3940.00 : -0.05 : Estimated northing and easting = 4063140.50 : 596881.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : BluefinBatt Reply: $b3q0 d- 30.67 1.29 17.77 3.75 3.85 0 9110.69 06:54:10 m : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,215032.00,3642.54210,N,12154.91991,W,1,12,0.9,-5.50,M,-32.59,M,,*75 : NMEA Update: $GPGGA,215032.11,3642.5421,N,-12154.9199,W,1,03,00.5,077.8,M,-99.9,M,,*44 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,215033.00,3642.54215,N,12154.91987,W,1,12,0.9,-4.77,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215033.11,3642.5422,N,-12154.9199,W,1,03,00.5,076.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,215034.00,3642.54213,N,12154.91941,W,1,12,0.9,-4.41,M,-32.59,M,,*7C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215034.11,3642.5421,N,-12154.9193,W,1,03,00.5,078.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,215035.00,3642.54194,N,12154.91901,W,1,12,0.9,-4.76,M,-32.59,M,,*71 : NMEA Update: $GPGGA,215035.11,3642.5419,N,-12154.9189,W,1,03,00.5,078.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215036.00,3642.54195,N,12154.91857,W,1,12,0.9,-5.30,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : TerrainNav update at nav time = 3944.999749 : TerrainNav update at dvl time = 3944.999749 : _navData-> (x,y) = (4063143.34, 596879.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,215036.11,3642.5419,N,-12154.9185,W,1,03,00.5,078.4,M,-99.9,M,,*45 : Estimated North Bias at time = 3945.00 : -3.18 : Estimated East Bias at time = 3945.00 : 3.73 : Estimated Depth Bias at time = 3945.00 : -0.05 : Estimated northing and easting = 4063140.16 : 596883.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,215037.00,3642.54176,N,12154.91857,W,1,12,0.9,-5.64,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215037.11,3642.5417,N,-12154.9186,W,1,03,00.5,078.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215038.00,3642.54169,N,12154.91848,W,1,12,0.9,-5.36,M,-32.59,M,,*77 : NMEA Update: $GPGGA,215038.11,3642.5417,N,-12154.9185,W,1,03,00.5,075.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,215039.00,3642.54146,N,12154.91859,W,1,12,0.9,-5.45,M,-32.59,M,,*7F : BluefinBatt Reply: $aaq0 d- 30.57 1.14 16.30 3.80 3.84 0 -9458.11 06:54:17 m : NMEA Update: $GPGGA,215039.10,3642.5414,N,-12154.9186,W,1,03,00.5,077.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215040.00,3642.54151,N,12154.91843,W,1,12,0.9,-5.14,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215040.10,3642.5415,N,-12154.9184,W,1,03,00.5,077.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215041.00,3642.54161,N,12154.91813,W,1,12,0.9,-4.24,M,-32.59,M,,*7D : TerrainNav update at nav time = 3949.999407 : TerrainNav update at dvl time = 3949.999407 : _navData-> (x,y) = (4063142.80, 596880.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215041.10,3642.5416,N,-12154.9181,W,1,03,00.5,079.3,M,-99.9,M,,*49 : Estimated North Bias at time = 3950.00 : -3.15 : Estimated East Bias at time = 3950.00 : 3.76 : Estimated Depth Bias at time = 3950.00 : -0.05 : Estimated northing and easting = 4063139.66 : 596884.11 : BluefinBatt Reply: $b3q0 d- 30.71 0.45 17.87 3.75 3.85 0 9110.62 06:54:20 m : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,215042.00,3642.54156,N,12154.91755,W,1,12,0.9,-3.94,M,-32.59,M,,*7B : NMEA Update: $GPGGA,215042.10,3642.5416,N,-12154.9174,W,1,03,00.5,077.4,M,-99.9,M,,*49 : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : AshtechGps::processRecord() - $GPGGA,215043.00,3642.54147,N,12154.91715,W,1,12,0.9,-4.60,M,-32.59,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215043.10,3642.5414,N,-12154.9171,W,1,03,00.5,078.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,215044.00,3642.54138,N,12154.91710,W,1,12,0.9,-5.11,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215044.10,3642.5414,N,-12154.9171,W,1,03,00.5,077.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,215045.00,3642.54131,N,12154.91703,W,1,12,0.9,-4.79,M,-32.59,M,,*7A : NMEA Update: $GPGGA,215045.10,3642.5413,N,-12154.9170,W,1,03,00.5,077.3,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,215046.00,3642.54108,N,12154.91684,W,1,12,0.9,-4.58,M,-32.59,M,,*7E : TerrainNav update at nav time = 3954.999064 : TerrainNav update at dvl time = 3954.999064 : _navData-> (x,y) = (4063141.76, 596882.30) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,215046.10,3642.5410,N,-12154.9168,W,1,03,00.5,078.1,M,-99.9,M,,*4c : Estimated North Bias at time = 3955.00 : -3.17 : Estimated East Bias at time = 3955.00 : 3.74 : Estimated Depth Bias at time = 3955.00 : -0.05 : Estimated northing and easting = 4063138.59 : 596886.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,215047.00,3642.54087,N,12154.91649,W,1,12,0.9,-4.73,M,-32.59,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215047.10,3642.5408,N,-12154.9164,W,1,03,00.5,077.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,215048.00,3642.54085,N,12154.91643,W,1,12,0.9,-5.09,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215048.10,3642.5408,N,-12154.9164,W,1,03,00.5,077.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,215049.00,3642.54093,N,12154.91601,W,1,12,0.9,-4.76,M,-32.59,M,,*73 : BluefinBatt Reply: $aaq0 d- 30.57 1.03 16.30 3.80 3.84 0 -9458.22 06:54:27 m : NMEA Update: $GPGGA,215049.10,3642.5410,N,-12154.9160,W,1,03,00.5,076.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,215050.00,3642.54078,N,12154.91539,W,1,12,0.9,-4.81,M,-32.59,M,,*7E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215050.10,3642.5407,N,-12154.9153,W,1,03,00.5,078.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,215051.00,3642.54062,N,12154.91497,W,1,12,0.9,-5.27,M,-32.59,M,,*7C : TerrainNav update at nav time = 3959.998722 : TerrainNav update at dvl time = 3959.998722 : _navData-> (x,y) = (4063140.88, 596885.24) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215051.10,3642.5406,N,-12154.9149,W,1,03,00.5,078.5,M,-99.9,M,,*4a : BluefinBatt Reply: $b3q0 d- 30.67 0.75 17.77 3.75 3.85 0 9110.59 06:54:30 m : Estimated North Bias at time = 3960.00 : -3.17 : Estimated East Bias at time = 3960.00 : 3.72 : Estimated Depth Bias at time = 3960.00 : -0.05 : Estimated northing and easting = 4063137.70 : 596888.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,215052.00,3642.54064,N,12154.91471,W,1,12,0.9,-5.87,M,-32.59,M,,*7B : NMEA Update: $GPGGA,215052.10,3642.5406,N,-12154.9146,W,1,03,00.5,077.7,M,-99.9,M,,*4b : batts online 2, min cell voltage 3.750000, mean min cell voltage 3.775000 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,215053.00,3642.54069,N,12154.91492,W,1,12,0.9,-6.17,M,-32.59,M,,*70 : NMEA Update: $GPGGA,215053.10,3642.5407,N,-12154.9149,W,1,03,00.5,076.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215054.00,3642.54076,N,12154.91509,W,1,12,0.9,-5.70,M,-32.59,M,,*78 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215054.10,3642.5408,N,-12154.9151,W,1,03,00.5,077.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,215055.00,3642.54064,N,12154.91505,W,1,12,0.9,-5.29,M,-32.59,M,,*7A : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215055.10,3642.5406,N,-12154.9150,W,1,03,00.5,077.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,215056.00,3642.54057,N,12154.91472,W,1,12,0.9,-5.00,M,-32.59,M,,*73 : TerrainNav update at nav time = 3964.998379 : TerrainNav update at dvl time = 3964.998379 : _navData-> (x,y) = (4063140.86, 596885.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,215056.10,3642.5405,N,-12154.9147,W,1,03,00.5,078.1,M,-99.9,M,,*44 : Estimated North Bias at time = 3965.00 : -3.18 : Estimated East Bias at time = 3965.00 : 3.71 : Estimated Depth Bias at time = 3965.00 : -0.05 : Estimated northing and easting = 4063137.68 : 596889.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,215057.00,3642.54042,N,12154.91455,W,1,12,0.9,-4.49,M,-32.59,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215057.10,3642.5404,N,-12154.9145,W,1,03,00.5,077.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,215058.00,3642.54032,N,12154.91395,W,1,12,0.9,-4.51,M,-32.59,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,215058.10,3642.5403,N,-12154.9138,W,1,03,00.5,079.3,M,-99.9,M,,*47 : 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 AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044650. : NavigationOutput::~NavigationOutput() : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DynamicControlIFServer - exit() on signal 2 : Supervisor::shutdown() - done() : DropWeight Destructor Executing. : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : CameraDestructor Executing. : TaskServer::signalHandler() for task EventLogIFServer - exit() on signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : **** SharedData destructor for object BluefinBattOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : **** SharedData destructor for object SonardyneOutput_ShmemName **** : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TerrainAidOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object ParosciOutput_ShmemName **** : **** SharedData destructor for object BenthosModemOutout **** : **** SharedData destructor for object m3dmgx1Cmd **** : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 18 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object CameraOutput **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object m3dmgx1 **** : 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 DropWeightIFServer - exit() on signal 18 : TerrainAidDestructor Executing. : **** SharedData destructor for object TerrainAidOutput **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F. : StepGetStat (2) failed to read chars, rcvd=3, want=8 : StepGetStat (2) dd 18 18 00 05 00 00 : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName ****