Supervisor::createCoreTasks() Supervisor::createTask() - eventLogServer Supervisor::createTask() - workSite Supervisor::createTask() - vehicleCon: Initializing worksiteServer figuration: WorkSite::WorkSite -- Adding attributes Se: WorkSite::WorkSite -- Loading parameters from file /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/workSite.cfg rver Supervisor::createTask() - externalComms: Using default vehicle config file "/home/dorado1/auv-qnx/auv/altex/onboard/config/docking/vehicle.cfg" Server Supervisor::createTask() - navigation: WorkSite::WorkSite -- Finished loading parameters Ser: WorkSite::WorkSite -- Starting Depth is 0.000000 meters ver: 0: 1 600674.187500E 4067388.750000N 73.699997 m 10.000000 ms channel:2 S: 1: 2 600531.687500E 4065156.000000N 73.199997 m 10.000000 ms channel:4 upe: 2: 3 598447.000000E 4067412.250000N 91.400002 m 10.000000 ms channel:5 rvis: 3: 4 600848.125000E 4069389.500000N 80.199997 m 10.000000 ms channel:6 or:: 4: 5 602732.187500E 4067093.000000N 57.299999 m 10.000000 ms channel:7 :cre: WorkSite server: 0x2300c ateTask() - layeredCont: New Navigation component constructor rolSe: Navigation - Using only the Dvl to compute altitude. r: Navigation: Opening Acoustic Modem Interface: ver Supervisor::createTask() - dynamicControlServer Supervisor::createTask() - newTailConeServer Supervisor::createTask() - m3dmgx1Server Supervisor::createTask() - gpsServer Supervisor::createTask() - paro: SerialDevice: done... s: TailConeServer -- Maximum Elevator Actuator Excursion is 0 Counts ciS: TailConeServer:: -- Minimum Elevator Actuator Excursion is 0 Counts erv: TailConeServer -- Maximum Rudder Actuator Excursion is 0 Counts : Preparing to fork er : TailConeServer -- Minimum Rudder Actuator Excursion is 0 Counts Sup: I'm the child...forking er: SerialDevice: done... visor::createTask: SerialDevice: done... () - dvlServer Supervisor::: SerialDevice: done... creat: SerialDevice: done... eTask() - dropWeightServer Super: Gps: initializing vi: SerialDevice: done... s: SerialDevice: done... or::c: SerialDevice: done... reateTask() -: SerialDevice: done... sona: Crossbow.cc: In getSerialNumber() rdyneServer Supe: SerialDevice: done... rvisor::c: SerialDevice: done... reateTask() - cameraServer Supervisor::: SerialDevice: done... createTas: SonardyneServer.cc was last compiled on Jan 25 2010, 19:16:17 k() - echoSounderServer S: DropWeight::initialize - Resetting counters. up: **** EventTriggers::add() - attaching proxy ervisor::createTask() - : SerialDevice: done... benthosServer Superv: SerialDevice: done... isor::createTask(): SonardyneDriver.cc was last compiled on Jan 25 2010, 19:16:13 - : SerialDeviceDriver::initialize() terr: Starting DVL Initialization. ainA: SerialDevice: done... idServe: CameraDriver:: Before navigation IF. r : CameraDriver enabling 12V camera power supply : PeriodicTask::run() (cameraDriver) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : BenthosModem::commandMode() - confirming... : SonardyneDriver -- configuration: PingDelay = 400 ms PresetGain = 1 PowerLevel = 0 LblWait = 3 s ESV = 1490.000000 m/s Beacon = V4,5 MRPL = 2 ms : DynamicControlServer::DynamicControl() - status 1 from _tailCone->initialize() : DepthEnvelope - Error. maxLowerPitch must be a postive number. Flipping the sign now. : maxLowerPitch = 1745.31 : PeriodicTask::run() (layeredControl) - sampleInterval=200, maxInterval=200 : SerialDevice: done... : EchoSounder -- configuration: Maximum Range = 100 m StartGain = 20 dB Absorption = 0.20 dB/m Pulse Length = 270 microseconds Minimum Range = 0.00 m Trigger Control= 0 Profile = 1 Delay = 0 milliseconds xz mounting an.= 90.00 degrees Head angle = -90.00 degrees Sector angle = 0.00 degrees Step size = 2.40 degrees Acoustic Freq = 675 kHz Ping period = 1.00 seconds : Scaled and shifted frequency = 100 : Crossbow.cc: device->read succeeded : m3dmgx1: Serial Number is 6380 : PeriodicTask::run() (crossbow) - sampleInterval=100, maxInterval=100 : Navigation: acommsIF = 0x72ae8 : ahrs if is Ahrs : CR1 [Parameters set to FACTORY defaults] > : PD5 > : BK1 > : TP00:00.00 > : TE00:00:00.60 > : BL,10,010,100 > : BP001 > : NMEA Update: $GPGGA,153845.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : CF11010 > : CB611 > : SerialDevice: done... : Dvl::initialize - Baud rate set to 38400. : EX10011 > : EA+04238 > : WP0001 > : WN25 > : Dvl::initialize - The number of cells is 25. : WV210 > : Dvl::initialize - 14 valid commands read in from dvl.cfg. : EC1490 > : > : Dvl::initialize() - The DVL is initialized. : **** EventTriggers::add() - attaching proxy : header is >CS 7 : Dvl record header not found. Resynchronize. : SerialDevice: done... : 3 Modules found : Gps: done initializing... : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - ,3648.73607,N,12158.21349,W,1,09,1.0,-0.74,M,-32.92,M,,*7D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: 1 : **** EventTriggers::add() - attaching proxy : NMEA Update: $GPGGA,153846.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : PeriodicTask::run() (tailConeDriver) - sampleInterval=200, maxInterval=200 : Dvl:: Serial resynchronization completed. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,153848.00,3648.73592,N,12158.21353,W,1,09,1.0,-0.14,M,-32.92,M,,*70 : NMEA Update: $GPGGA,153847.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,153849.00,3648.73604,N,12158.21335,W,1,09,1.0,-0.42,M,-32.92,M,,*7E : NMEA Update: $GPGGA,153848.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,153850.00,3648.73590,N,12158.21332,W,1,09,1.0,-0.33,M,-32.92,M,,*79 : NMEA Update: $GPGGA,153849.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : SerialDevice::confirm() - Timed Out : BenthosModem::commandMode() - no prompt after +++ : BenthosModem::commandMode() - trying EOL... : BenthosModem::commandMode() - confirming... : Set verbose level : Configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/terrainAid.cfg : AshtechGps::processRecord() - $GPGGA,153851.00,3648.73591,N,12158.21305,W,1,09,1.0,-0.10,M,-32.92,M,,*7C : NMEA Update: $GPGGA,153850.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : TerrainAid -- configuration: : mapFileName = SoquelCanyonMAUVUTMTopo_NoNan.grd : vehicleCfgName = mappingAUV_specs.cfg : dvlFileName = rdiDVL_specs.cfg : resonCfgName = resonSeabat8101_specs.cfg : samplePeriod = 3000 : maxNorthingCov = -1.00 : maxEastingCov = -1.00 : maxNorthingError = -1.00 : maxEastingError = -1.00 : Vehicle configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/mappingAUV_specs.cfg : Dvl configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/rdiDVL_specs.cfg : Reson configuration file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/resonSeabat8101_specs.cfg : Map file = /home/dorado1/auv-qnx/auv/altex/onboard/config/docking/SoquelCanyonMAUVUTMTopo_NoNan.grd : TerrainAidDriver:: RollOffset is 0.00 : Set write delay : Set remote response waiting time : Turn on doppler correction : AshtechGps::processRecord() - $GPGGA,153852.00,3648.73558,N,12158.21259,W,1,10,1.0,0.26,M,-32.92,M,,*52 : NMEA Update: $GPGGA,153851.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : BenthosModem::onlineMode() - confirming... : done initializing modem : PeriodicTask::run() (BenthosModem) - sampleInterval=1000, maxInterval=1000 : AshtechGps::processRecord() - $GPGGA,153853.00,3648.73555,N,12158.21236,W,1,10,1.0,0.09,M,-32.92,M,,*5A : NMEA Update: $GPGGA,153852.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*55 : Parosci.cc -- Initial pressure = 1.034214 : Parosci.cc -- Parosci initial pressure period = 30.138790 : Parosci.cc -- Parosci initial temp period = 5.842017 : Parosci.cc -- Paroscientific configured. : **** EventTriggers::add() - attaching proxy : AshtechGps::processRecord() - $GPGGA,153854.00,3648.73541,N,12158.21219,W,1,10,1.0,0.07,M,-32.92,M,,*5B : NMEA Update: $GPGGA,153853.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*54 : AshtechGps::processRecord() - $GPGGA,153855.00,3648.73530,N,12158.21189,W,1,10,1.0,-0.35,M,-32.92,M,,*7A : NMEA Update: $GPGGA,153854.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,153856.00,3648.73529,N,12158.21173,W,1,10,1.0,-0.19,M,-32.92,M,,*7A : NMEA Update: $GPGGA,153855.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,153857.00,3648.73537,N,12158.21144,W,1,10,1.0,0.11,M,-32.92,M,,*55 : NMEA Update: $GPGGA,153856.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,153858.00,3648.73519,N,12158.21136,W,1,10,1.0,-0.82,M,-32.92,M,,*74 : NMEA Update: $GPGGA,153857.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : Lbl NavSensor - could not create LBL task interface : Navigation: Server for aux sensor "Lbl" not found : AshtechGps::processRecord() - $GPGGA,153859.00,3648.73508,N,12158.21176,W,1,10,1.0,-1.10,M,-32.92,M,,*7B : NMEA Update: $GPGGA,153858.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5f : AshtechGps::processRecord() - $GPGGA,153900.00,3648.73494,N,12158.21194,W,1,10,1.0,-0.14,M,-32.92,M,,*7B : NMEA Update: $GPGGA,153859.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5e : AshtechGps::processRecord() - $GPGGA,153901.00,3648.73461,N,12158.21149,W,1,10,1.0,-1.53,M,-32.92,M,,*72 : NMEA Update: $GPGGA,153900.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : AshtechGps::processRecord() - $GPGGA,153902.00,3648.73456,N,12158.21129,W,1,08,1.3,-1.43,M,-32.92,M,,*78 : NMEA Update: $GPGGA,153901.54,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,153903.00,3648.73450,N,12158.21093,W,1,10,1.0,-0.25,M,-32.92,M,,*74 : NMEA Update: $GPGGA,153902.53,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*56 : AshtechGps::processRecord() - $GPGGA,153904.00,3648.73435,N,12158.21082,W,1,10,1.0,-0.28,M,-32.92,M,,*7D : NMEA Update: $GPGGA,153903.53,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*57 : AshtechGps::processRecord() - $GPGGA,153905.00,3648.73438,N,12158.21046,W,1,10,1.0,-0.22,M,-32.92,M,,*73 : NMEA Update: $GPGGA,153904.53,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*50 : AshtechGps::processRecord() - $GPGGA,153906.00,3648.73439,N,12158.21033,W,1,10,1.0,-1.20,M,-32.92,M,,*70 : NMEA Update: $GPGGA,153905.53,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*51 : AshtechGps::processRecord() - $GPGGA,153907.00,3648.73452,N,12158.21064,W,1,10,1.0,-0.44,M,-32.92,M,,*7D : NMEA Update: $GPGGA,153906.53,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*52 : AshtechGps::processRecord() - $GPGGA,153908.00,3648.73445,N,12158.21055,W,1,10,1.0,0.29,M,-32.92,M,,*50 : NMEA Update: $GPGGA,153907.53,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*53 : 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() () - sampleInterval=200, maxInterval=200 : AshtechGps::processRecord() - $GPGGA,153909.00,3648.73416,N,12158.21032,W,1,10,1.0,0.93,M,-32.92,M,,*57 : NMEA Update: $GPGGA,153908.53,000.0000,N,000.0000,W,1,03,00.5,000.0,M,-99.9,M,,*5c : **** EventTriggers::add() - attaching proxy : GetGPS::execute() -- Got a new GPS hit: 1 of 10 needed : LayeredControl::execute() -- (t = 0.000000) Behavior getgps:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior depthEnvelope:-1 has changed to state Active : LayeredControl::execute() -- (t = 0.000000) Behavior missionTimer:-1 has changed to state Active : **** EventTriggers::add() - attaching proxy : *** Mission started *** : AshtechGps::processRecord() - $GPGGA,153910.00,3648.73426,N,12158.20985,W,1,10,1.0,0.48,M,-32.92,M,,*5E : GetGPS::execute() -- Got a new GPS hit: 2 of 10 needed : NMEA Update: $GPGGA,153909.53,3648.7342,N,-12158.2103,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,153911.00,3648.73408,N,12158.20923,W,1,10,1.0,0.40,M,-32.92,M,,*57 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : NMEA Update: $GPGGA,153910.53,3648.7342,N,-12158.2097,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,153912.00,3648.73409,N,12158.20901,W,1,10,1.0,-0.71,M,-32.92,M,,*7A : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : NMEA Update: $GPGGA,153911.53,3648.7340,N,-12158.2091,W,1,03,00.5,080.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,153913.00,3648.73388,N,12158.20908,W,1,10,1.0,-1.17,M,-32.92,M,,*7D : GetGPS::execute() -- Got a new GPS hit: 5 of 10 needed : NMEA Update: $GPGGA,153912.53,3648.7341,N,-12158.2090,W,1,03,00.5,079.3,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,153914.00,3648.73351,N,12158.20922,W,1,10,1.0,-1.72,M,-32.92,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,153913.53,3648.7338,N,-12158.2091,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,153915.00,3648.73349,N,12158.20944,W,1,10,1.0,-1.38,M,-32.92,M,,*73 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : NMEA Update: $GPGGA,153914.53,3648.7335,N,-12158.2093,W,1,03,00.5,076.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,153916.00,3648.73318,N,12158.20966,W,1,10,1.0,-0.99,M,-32.92,M,,*7E : 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,153915.53,3648.7335,N,-12158.2095,W,1,03,00.5,078.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,153917.00,3648.73341,N,12158.20935,W,1,10,1.0,-0.22,M,-32.92,M,,*75 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,153916.53,3648.7332,N,-12158.2097,W,1,03,00.5,078.3,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,153918.00,3648.73328,N,12158.20907,W,1,10,1.0,0.05,M,-32.92,M,,*5C : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 8.799397) Behavior getgps:-1 has changed to state Finished : LayeredControl::execute() -- (t = 8.799397) Behavior setpoint:-1 has changed to state Active : NMEA Update: $GPGGA,153917.53,3648.7334,N,-12158.2093,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153919.00,3648.73334,N,12158.20874,W,1,10,1.0,0.13,M,-32.92,M,,*52 : NMEA Update: $GPGGA,153918.53,3648.7332,N,-12158.2091,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,153920.00,3648.73316,N,12158.20852,W,1,10,1.0,0.13,M,-32.92,M,,*5C : NMEA Update: $GPGGA,153919.53,3648.7333,N,-12158.2087,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153921.00,3648.73304,N,12158.20820,W,1,10,1.0,0.14,M,-32.92,M,,*5C : NMEA Update: $GPGGA,153920.53,3648.7332,N,-12158.2085,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153922.00,3648.73304,N,12158.20802,W,1,10,1.0,-0.35,M,-32.92,M,,*71 : NMEA Update: $GPGGA,153921.53,3648.7330,N,-12158.2082,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,153923.00,3648.73253,N,12158.20808,W,1,10,1.0,0.22,M,-32.92,M,,*52 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,153922.53,3648.7330,N,-12158.2080,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,153924.00,3648.73269,N,12158.20807,W,1,10,1.0,-0.29,M,-32.92,M,,*75 : NMEA Update: $GPGGA,153923.53,3648.7325,N,-12158.2081,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153925.00,3648.73284,N,12158.20821,W,1,10,1.0,-0.92,M,-32.92,M,,*73 : NMEA Update: $GPGGA,153924.53,3648.7327,N,-12158.2081,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153926.00,3648.73293,N,12158.20837,W,1,10,1.0,-1.01,M,-32.92,M,,*7A : NMEA Update: $GPGGA,153925.53,3648.7329,N,-12158.2082,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,153927.00,3648.73265,N,12158.20875,W,1,10,1.0,-0.92,M,-32.92,M,,*7F : NMEA Update: $GPGGA,153926.53,3648.7329,N,-12158.2084,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153928.00,3648.73253,N,12158.20915,W,1,10,1.0,-0.58,M,-32.92,M,,*74 : NMEA Update: $GPGGA,153927.53,3648.7326,N,-12158.2088,W,1,03,00.5,074.8,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153929.00,3648.73246,N,12158.20948,W,1,10,1.0,-0.50,M,-32.92,M,,*71 : NMEA Update: $GPGGA,153928.53,3648.7326,N,-12158.2092,W,1,03,00.5,077.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,153930.00,3648.73241,N,12158.20965,W,1,10,1.0,0.26,M,-32.92,M,,*5D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,153929.53,3648.7325,N,-12158.2095,W,1,03,00.5,076.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,153931.00,3648.73232,N,12158.20962,W,1,09,1.0,-0.50,M,-32.92,M,,*7B : NMEA Update: $GPGGA,153930.53,3648.7324,N,-12158.2096,W,1,03,00.5,080.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153932.00,3648.73235,N,12158.21008,W,1,09,1.0,-0.47,M,-32.92,M,,*7D : NMEA Update: $GPGGA,153931.53,3648.7323,N,-12158.2096,W,1,03,00.5,079.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153933.00,3648.73236,N,12158.21015,W,1,10,1.0,-0.39,M,-32.92,M,,*72 : NMEA Update: $GPGGA,153932.53,3648.7324,N,-12158.2101,W,1,03,00.5,077.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,153934.00,3648.73249,N,12158.21038,W,1,09,1.0,-0.23,M,-32.92,M,,*71 : NMEA Update: $GPGGA,153933.53,3648.7324,N,-12158.2101,W,1,03,00.5,078.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153935.00,3648.73251,N,12158.21103,W,1,09,1.0,-0.41,M,-32.92,M,,*74 : NMEA Update: $GPGGA,153934.53,3648.7325,N,-12158.2105,W,1,03,00.5,077.8,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153936.00,3648.73264,N,12158.21147,W,1,10,1.0,-0.19,M,-32.92,M,,*74 : NMEA Update: $GPGGA,153935.53,3648.7325,N,-12158.2112,W,1,03,00.5,080.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,153937.00,3648.73233,N,12158.21190,W,1,10,1.0,-0.15,M,-32.92,M,,*71 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,153936.53,3648.7327,N,-12158.2115,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,153938.00,3648.73231,N,12158.21233,W,1,10,1.0,-0.46,M,-32.92,M,,*70 : NMEA Update: $GPGGA,153937.53,3648.7324,N,-12158.2120,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153939.00,3648.73207,N,12158.21281,W,1,10,1.0,-0.52,M,-32.92,M,,*78 : NMEA Update: $GPGGA,153938.53,3648.7323,N,-12158.2124,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153940.00,3648.73206,N,12158.21321,W,1,10,1.0,0.38,M,-32.92,M,,*5D : NMEA Update: $GPGGA,153939.53,3648.7320,N,-12158.2129,W,1,03,00.5,076.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,153941.00,3648.73195,N,12158.21358,W,1,10,1.0,-0.01,M,-32.92,M,,*7C : NMEA Update: $GPGGA,153940.53,3648.7321,N,-12158.2133,W,1,03,00.5,078.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153942.00,3648.73199,N,12158.21399,W,1,10,1.0,-0.19,M,-32.92,M,,*77 : NMEA Update: $GPGGA,153941.53,3648.7320,N,-12158.2137,W,1,03,00.5,080.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153943.00,3648.73208,N,12158.21455,W,1,09,1.0,-0.34,M,-32.92,M,,*7D : NMEA Update: $GPGGA,153942.53,3648.7320,N,-12158.2141,W,1,03,00.5,076.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,153944.00,3648.73189,N,12158.21519,W,1,10,1.0,0.17,M,-32.92,M,,*5D : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,153943.53,3648.7321,N,-12158.2147,W,1,03,00.5,076.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,153945.00,3648.73220,N,12158.21563,W,1,11,0.9,-1.15,M,-32.92,M,,*76 : NMEA Update: $GPGGA,153944.53,3648.7320,N,-12158.2153,W,1,03,00.5,075.7,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153946.00,3648.73206,N,12158.21628,W,1,11,0.9,-1.54,M,-32.92,M,,*78 : NMEA Update: $GPGGA,153945.53,3648.7322,N,-12158.2157,W,1,03,00.5,071.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=0.00 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153947.00,3648.73232,N,12158.21689,W,1,11,0.9,-0.81,M,-32.92,M,,*7C : NMEA Update: $GPGGA,153946.53,3648.7321,N,-12158.2164,W,1,03,00.5,086.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,153948.00,3648.73216,N,12158.21744,W,1,11,0.9,-0.43,M,-32.92,M,,*7B : NMEA Update: $GPGGA,153947.53,3648.7324,N,-12158.2170,W,1,03,00.5,078.2,M,-99.9,M,,*47 : Behavior setpoint - Timed out! : LayeredControl::execute() -- (t = 38.997329) Behavior setpoint:-1 has changed to state Finished : LayeredControl::execute() -- (t = 38.997329) Behavior descend:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153949.00,3648.73224,N,12158.21773,W,1,11,0.9,-0.20,M,-32.92,M,,*7A : NMEA Update: $GPGGA,153948.53,3648.7322,N,-12158.2175,W,1,03,00.5,081.3,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153950.00,3648.73225,N,12158.21797,W,1,11,0.9,0.33,M,-32.92,M,,*56 : NMEA Update: $GPGGA,153949.53,3648.7323,N,-12158.2178,W,1,03,00.5,077.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,153951.00,3648.73206,N,12158.21799,W,1,10,1.0,-0.32,M,-32.92,M,,*7D : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,153950.53,3648.7323,N,-12158.2180,W,1,03,00.5,076.0,M,-99.9,M,,*45 : PeriodicTask::run() (terrainAidDriver) - sampleInterval=3000, maxInterval=3000 : AshtechGps::processRecord() - $GPGGA,153952.00,3648.73263,N,12158.21839,W,1,11,0.9,-0.97,M,-32.92,M,,*7E : NMEA Update: $GPGGA,153951.53,3648.7320,N,-12158.2181,W,1,03,00.5,086.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153953.00,3648.73257,N,12158.21925,W,1,10,1.0,-1.38,M,-32.92,M,,*79 : NMEA Update: $GPGGA,153952.53,3648.7327,N,-12158.2185,W,1,03,00.5,077.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153954.00,3648.73295,N,12158.22019,W,1,11,0.9,-2.16,M,-32.92,M,,*73 : NMEA Update: $GPGGA,153953.53,3648.7326,N,-12158.2195,W,1,03,00.5,075.2,M,-99.9,M,,*46 : TerrainAidDriver:: _navTime0 = 1269963593.63 : TerrainAidDriver:: _dvlTime0 = 56391.93 : TerrainNav update at nav time = 0.000000 : TerrainNav update at dvl time = 0.000000 : _navData-> (x,y) = (4074535.71, 591841.27) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074535.71 : Estimated East Bias at time = 0.00 : -591841.27 : Estimated Depth Bias at time = 0.00 : -0.04 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,153955.00,3648.73256,N,12158.22093,W,1,11,0.9,-2.48,M,-32.92,M,,*74 : NMEA Update: $GPGGA,153954.53,3648.7330,N,-12158.2203,W,1,03,00.5,071.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153956.00,3648.73225,N,12158.22087,W,1,08,1.1,-0.38,M,-32.92,M,,*72 : NMEA Update: $GPGGA,153955.53,3648.7326,N,-12158.2211,W,1,03,00.5,087.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,153957.00,3648.73299,N,12158.22201,W,1,09,1.0,3.61,M,-32.92,M,,*5A : NMEA Update: $GPGGA,153956.53,3648.7323,N,-12158.2209,W,1,03,00.5,080.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 2.999794 : TerrainNav update at dvl time = 2.999794 : _navData-> (x,y) = (4074535.80, 591838.84) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074535.80 : Estimated East Bias at time = 0.00 : -591838.84 : Estimated Depth Bias at time = 0.00 : 0.11 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,153958.00,3648.73417,N,12158.22196,W,1,10,1.0,1.50,M,-32.92,M,,*50 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,153957.53,3648.7330,N,-12158.2222,W,1,03,00.5,080.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,153959.00,3648.73349,N,12158.22313,W,1,10,1.0,1.05,M,-32.92,M,,*52 : NMEA Update: $GPGGA,153958.53,3648.7342,N,-12158.2221,W,1,03,00.5,077.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154000.00,3648.73347,N,12158.22321,W,1,10,1.0,0.65,M,-32.92,M,,*58 : NMEA Update: $GPGGA,153959.53,3648.7335,N,-12158.2232,W,1,03,00.5,078.5,M,-99.9,M,,*4a : TerrainNav update at nav time = 5.999589 : TerrainNav update at dvl time = 5.999589 : _navData-> (x,y) = (4074536.62, 591836.98) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074536.62 : Estimated East Bias at time = 0.00 : -591836.98 : Estimated Depth Bias at time = 0.00 : 0.03 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154001.00,3648.73345,N,12158.22365,W,1,10,1.0,0.93,M,-32.92,M,,*52 : NMEA Update: $GPGGA,154000.53,3648.7335,N,-12158.2233,W,1,03,00.5,078.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154002.00,3648.73290,N,12158.22478,W,1,09,1.3,-0.31,M,-32.92,M,,*7D : NMEA Update: $GPGGA,154001.53,3648.7335,N,-12158.2237,W,1,03,00.5,080.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154003.00,3648.73344,N,12158.22459,W,1,10,1.0,-0.28,M,-32.92,M,,*74 : NMEA Update: $GPGGA,154002.53,3648.7329,N,-12158.2249,W,1,03,00.5,076.8,M,-99.9,M,,*48 : TerrainNav update at nav time = 8.999383 : TerrainNav update at dvl time = 8.999383 : _navData-> (x,y) = (4074536.59, 591834.94) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074536.59 : Estimated East Bias at time = 0.00 : -591834.94 : Estimated Depth Bias at time = 0.00 : 0.01 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154004.00,3648.73313,N,12158.22532,W,1,10,1.0,0.41,M,-32.92,M,,*5F : NMEA Update: $GPGGA,154003.53,3648.7335,N,-12158.2247,W,1,03,00.5,080.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154005.00,3648.73332,N,12158.22576,W,1,10,1.0,0.80,M,-32.92,M,,*50 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154004.53,3648.7332,N,-12158.2254,W,1,03,00.5,079.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154006.00,3648.73339,N,12158.22619,W,1,09,1.0,-0.46,M,-32.92,M,,*7D : NMEA Update: $GPGGA,154005.53,3648.7333,N,-12158.2259,W,1,03,00.5,079.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 11.999178 : TerrainNav update at dvl time = 11.999178 : _navData-> (x,y) = (4074536.45, 591832.61) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074536.45 : Estimated East Bias at time = 0.00 : -591832.61 : Estimated Depth Bias at time = 0.00 : 0.07 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154007.00,3648.73335,N,12158.22696,W,1,09,1.0,-0.57,M,-32.92,M,,*77 : NMEA Update: $GPGGA,154006.53,3648.7334,N,-12158.2262,W,1,03,00.5,080.0,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154008.00,3648.73351,N,12158.22779,W,1,10,1.0,-1.29,M,-32.92,M,,*7A : NMEA Update: $GPGGA,154007.53,3648.7334,N,-12158.2271,W,1,03,00.5,077.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154009.00,3648.73376,N,12158.22850,W,1,10,1.0,-0.83,M,-32.92,M,,*7B : NMEA Update: $GPGGA,154008.53,3648.7336,N,-12158.2280,W,1,03,00.5,079.3,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 14.998972 : TerrainNav update at dvl time = 14.998972 : _navData-> (x,y) = (4074537.18, 591828.96) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074537.18 : Estimated East Bias at time = 0.00 : -591828.96 : Estimated Depth Bias at time = 0.00 : 0.03 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154010.00,3648.73345,N,12158.22925,W,1,07,1.2,-0.26,M,-32.92,M,,*7B : NMEA Update: $GPGGA,154009.53,3648.7338,N,-12158.2286,W,1,03,00.5,077.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154011.00,3648.73334,N,12158.22948,W,1,07,1.2,-1.44,M,-32.92,M,,*72 : NMEA Update: $GPGGA,154010.53,3648.7335,N,-12158.2293,W,1,03,00.5,078.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154012.00,3648.73322,N,12158.23004,W,1,10,1.0,0.89,M,-32.92,M,,*5F : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154011.53,3648.7334,N,-12158.2295,W,1,03,00.5,079.3,M,-99.9,M,,*43 : TerrainNav update at nav time = 17.998767 : TerrainNav update at dvl time = 17.998767 : _navData-> (x,y) = (4074536.07, 591826.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074536.07 : Estimated East Bias at time = 0.00 : -591826.88 : Estimated Depth Bias at time = 0.00 : 0.11 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154013.00,3648.73349,N,12158.23025,W,1,10,1.0,-0.39,M,-32.92,M,,*76 : NMEA Update: $GPGGA,154012.53,3648.7333,N,-12158.2301,W,1,03,00.5,079.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154014.00,3648.73363,N,12158.23060,W,1,10,1.0,-0.60,M,-32.92,M,,*74 : NMEA Update: $GPGGA,154013.53,3648.7335,N,-12158.2303,W,1,03,00.5,078.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154015.00,3648.73364,N,12158.23120,W,1,10,1.0,0.00,M,-32.92,M,,*5C : NMEA Update: $GPGGA,154014.53,3648.7337,N,-12158.2306,W,1,03,00.5,078.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 20.998561 : TerrainNav update at dvl time = 20.998561 : _navData-> (x,y) = (4074536.94, 591825.10) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074536.94 : Estimated East Bias at time = 0.00 : -591825.10 : Estimated Depth Bias at time = 0.00 : 0.17 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154016.00,3648.73357,N,12158.23210,W,1,10,1.0,-0.95,M,-32.92,M,,*7E : NMEA Update: $GPGGA,154015.53,3648.7337,N,-12158.2313,W,1,03,00.5,078.0,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154017.00,3648.73391,N,12158.23256,W,1,10,1.0,-1.08,M,-32.92,M,,*72 : NMEA Update: $GPGGA,154016.53,3648.7336,N,-12158.2323,W,1,03,00.5,077.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154018.00,3648.73357,N,12158.23250,W,1,10,1.0,-1.13,M,-32.92,M,,*7B : NMEA Update: $GPGGA,154017.53,3648.7340,N,-12158.2326,W,1,03,00.5,078.2,M,-99.9,M,,*4f : TerrainNav update at nav time = 23.998356 : TerrainNav update at dvl time = 23.998356 : _navData-> (x,y) = (4074536.74, 591823.21) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074536.74 : Estimated East Bias at time = 0.00 : -591823.21 : Estimated Depth Bias at time = 0.00 : 0.01 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154019.00,3648.73367,N,12158.23335,W,1,10,1.0,0.59,M,-32.92,M,,*59 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154018.53,3648.7336,N,-12158.2326,W,1,03,00.5,078.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154020.00,3648.73343,N,12158.23358,W,1,10,1.0,-0.89,M,-32.92,M,,*7E : NMEA Update: $GPGGA,154019.53,3648.7337,N,-12158.2334,W,1,03,00.5,079.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154021.00,3648.73348,N,12158.23418,W,1,10,1.0,-1.21,M,-32.92,M,,*74 : NMEA Update: $GPGGA,154020.53,3648.7334,N,-12158.2336,W,1,03,00.5,074.4,M,-99.9,M,,*43 : TerrainNav update at nav time = 26.998150 : TerrainNav update at dvl time = 26.998150 : _navData-> (x,y) = (4074536.44, 591820.71) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074536.44 : Estimated East Bias at time = 0.00 : -591820.71 : Estimated Depth Bias at time = 0.00 : 0.01 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154022.00,3648.73368,N,12158.23488,W,1,10,1.0,-2.37,M,-32.92,M,,*78 : NMEA Update: $GPGGA,154021.53,3648.7336,N,-12158.2343,W,1,03,00.5,077.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154023.00,3648.73347,N,12158.23595,W,1,10,1.0,-2.76,M,-32.92,M,,*7C : NMEA Update: $GPGGA,154022.53,3648.7337,N,-12158.2351,W,1,03,00.5,080.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154024.00,3648.73402,N,12158.23746,W,1,10,1.0,-1.10,M,-32.92,M,,*72 : NMEA Update: $GPGGA,154023.53,3648.7335,N,-12158.2362,W,1,03,00.5,073.8,M,-99.9,M,,*4b : TerrainNav update at nav time = 29.997945 : TerrainNav update at dvl time = 29.997945 : _navData-> (x,y) = (4074537.51, 591815.72) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074537.51 : Estimated East Bias at time = 0.00 : -591815.72 : Estimated Depth Bias at time = 0.00 : -0.36 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154025.00,3648.73450,N,12158.23799,W,1,10,1.0,-1.42,M,-32.92,M,,*71 : NMEA Update: $GPGGA,154024.53,3648.7341,N,-12158.2376,W,1,03,00.5,081.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154026.00,,,,,0,01,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154025.53,3648.7345,N,-12158.2381,W,1,03,00.5,079.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154027.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154026.53,3648.7346,N,-12158.2386,W,1,03,00.5,074.1,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 32.997739 : TerrainNav update at dvl time = 32.997739 : _navData-> (x,y) = (4074538.52, 591813.96) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074538.52 : Estimated East Bias at time = 0.00 : -591813.96 : Estimated Depth Bias at time = 0.00 : -1.09 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154028.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154027.53,3648.7346,N,-12158.2388,W,1,03,00.5,077.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154029.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154028.53,3648.7345,N,-12158.2388,W,1,03,00.5,080.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154030.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154029.53,3648.7345,N,-12158.2389,W,1,03,00.5,078.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 35.997534 : TerrainNav update at dvl time = 35.997534 : _navData-> (x,y) = (4074538.34, 591813.74) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074538.34 : Estimated East Bias at time = 0.00 : -591813.74 : Estimated Depth Bias at time = 0.00 : -1.81 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154031.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154030.53,3648.7346,N,-12158.2391,W,1,03,00.5,080.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154032.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154031.53,3648.7352,N,-12158.2401,W,1,03,00.5,075.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154033.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154032.53,3648.7354,N,-12158.2412,W,1,03,00.5,077.4,M,-99.9,M,,*44 : TerrainNav update at nav time = 38.997328 : TerrainNav update at dvl time = 38.997328 : _navData-> (x,y) = (4074539.98, 591809.78) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074539.98 : Estimated East Bias at time = 0.00 : -591809.78 : Estimated Depth Bias at time = 0.00 : -2.73 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154034.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154033.53,3648.7356,N,-12158.2422,W,1,03,00.5,074.6,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154035.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154034.53,3648.7358,N,-12158.2429,W,1,03,00.5,075.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154036.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154035.53,3648.7360,N,-12158.2435,W,1,03,00.5,075.8,M,-99.9,M,,*4f : TerrainNav update at nav time = 41.997123 : TerrainNav update at dvl time = 41.997123 : _navData-> (x,y) = (4074541.06, 591806.59) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074541.06 : Estimated East Bias at time = 0.00 : -591806.59 : Estimated Depth Bias at time = 0.00 : -3.59 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154037.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154036.53,3648.7361,N,-12158.2441,W,1,03,00.5,077.1,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154038.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154037.53,3648.7363,N,-12158.2448,W,1,03,00.5,076.0,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154039.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154038.53,3648.7365,N,-12158.2456,W,1,03,00.5,075.3,M,-99.9,M,,*49 : TerrainNav update at nav time = 44.996917 : TerrainNav update at dvl time = 44.996917 : _navData-> (x,y) = (4074542.07, 591803.39) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074542.07 : Estimated East Bias at time = 0.00 : -591803.39 : Estimated Depth Bias at time = 0.00 : -4.50 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154040.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154039.53,3648.7367,N,-12158.2462,W,1,03,00.5,075.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154041.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154040.53,3648.7370,N,-12158.2467,W,1,03,00.5,075.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154042.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154041.53,3648.7372,N,-12158.2473,W,1,03,00.5,075.2,M,-99.9,M,,*47 : TerrainNav update at nav time = 47.996712 : TerrainNav update at dvl time = 47.996712 : _navData-> (x,y) = (4074543.37, 591800.78) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074543.37 : Estimated East Bias at time = 0.00 : -591800.78 : Estimated Depth Bias at time = 0.00 : -5.31 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154043.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154042.53,3648.7375,N,-12158.2481,W,1,03,00.5,075.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154044.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154043.53,3648.7377,N,-12158.2489,W,1,03,00.5,074.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154045.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154044.53,3648.7379,N,-12158.2495,W,1,03,00.5,073.8,M,-99.9,M,,*4d : TerrainNav update at nav time = 50.996506 : TerrainNav update at dvl time = 50.996506 : _navData-> (x,y) = (4074544.50, 591797.53) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074544.50 : Estimated East Bias at time = 0.00 : -591797.53 : Estimated Depth Bias at time = 0.00 : -6.31 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154046.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154045.53,3648.7380,N,-12158.2502,W,1,03,00.5,074.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154047.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154046.53,3648.7382,N,-12158.2508,W,1,03,00.5,072.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154048.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154047.53,3648.7384,N,-12158.2514,W,1,03,00.5,073.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 53.996301 : TerrainNav update at dvl time = 53.996301 : _navData-> (x,y) = (4074545.40, 591794.72) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074545.40 : Estimated East Bias at time = 0.00 : -591794.72 : Estimated Depth Bias at time = 0.00 : -7.51 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154049.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154048.53,3648.7386,N,-12158.2521,W,1,03,00.5,073.3,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154050.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154049.53,3648.7389,N,-12158.2530,W,1,03,00.5,071.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154051.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154050.53,3648.7392,N,-12158.2539,W,1,03,00.5,072.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 56.996095 : TerrainNav update at dvl time = 56.996095 : _navData-> (x,y) = (4074546.91, 591790.73) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074546.91 : Estimated East Bias at time = 0.00 : -591790.73 : Estimated Depth Bias at time = 0.00 : -8.62 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154052.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154051.53,3648.7395,N,-12158.2550,W,1,03,00.5,071.8,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154053.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154052.53,3648.7398,N,-12158.2559,W,1,03,00.5,071.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154054.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154053.53,3648.7400,N,-12158.2568,W,1,03,00.5,070.5,M,-99.9,M,,*4f : TerrainNav update at nav time = 59.995890 : TerrainNav update at dvl time = 59.995890 : _navData-> (x,y) = (4074548.38, 591786.65) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074548.38 : Estimated East Bias at time = 0.00 : -591786.65 : Estimated Depth Bias at time = 0.00 : -9.85 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154055.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154054.53,3648.7403,N,-12158.2575,W,1,03,00.5,070.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154056.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154055.53,3648.7405,N,-12158.2580,W,1,03,00.5,071.0,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154057.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154056.53,3648.7407,N,-12158.2586,W,1,03,00.5,070.7,M,-99.9,M,,*4f : TerrainNav update at nav time = 62.995684 : TerrainNav update at dvl time = 62.995684 : _navData-> (x,y) = (4074549.50, 591783.93) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074549.50 : Estimated East Bias at time = 0.00 : -591783.93 : Estimated Depth Bias at time = 0.00 : -10.74 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154058.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154057.53,3648.7409,N,-12158.2593,W,1,03,00.5,070.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154059.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154058.53,3648.7411,N,-12158.2600,W,1,03,00.5,070.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154100.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154059.53,3648.7414,N,-12158.2608,W,1,03,00.5,069.3,M,-99.9,M,,*4b : TerrainNav update at nav time = 65.995479 : TerrainNav update at dvl time = 65.995479 : _navData-> (x,y) = (4074550.91, 591780.66) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074550.91 : Estimated East Bias at time = 0.00 : -591780.66 : Estimated Depth Bias at time = 0.00 : -11.58 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154101.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154100.53,3648.7417,N,-12158.2615,W,1,03,00.5,068.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154102.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154101.53,3648.7420,N,-12158.2623,W,1,03,00.5,068.4,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154103.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154102.53,3648.7423,N,-12158.2631,W,1,03,00.5,068.8,M,-99.9,M,,*40 : TerrainNav update at nav time = 68.995273 : TerrainNav update at dvl time = 68.995273 : _navData-> (x,y) = (4074552.43, 591777.14) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074552.43 : Estimated East Bias at time = 0.00 : -591777.14 : Estimated Depth Bias at time = 0.00 : -12.65 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154104.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154103.53,3648.7425,N,-12158.2640,W,1,03,00.5,068.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154105.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154104.53,3648.7429,N,-12158.2649,W,1,03,00.5,067.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154106.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154105.53,3648.7432,N,-12158.2659,W,1,03,00.5,066.6,M,-99.9,M,,*49 : TerrainNav update at nav time = 71.995068 : TerrainNav update at dvl time = 71.995068 : _navData-> (x,y) = (4074554.25, 591772.81) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074554.25 : Estimated East Bias at time = 0.00 : -591772.81 : Estimated Depth Bias at time = 0.00 : -13.66 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,154107.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154106.53,3648.7436,N,-12158.2669,W,1,03,00.5,067.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154108.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154107.53,3648.7439,N,-12158.2678,W,1,03,00.5,066.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154109.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154108.53,3648.7443,N,-12158.2686,W,1,03,00.5,066.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 74.994862 : TerrainNav update at dvl time = 74.994862 : _navData-> (x,y) = (4074556.06, 591768.92) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074556.06 : Estimated East Bias at time = 0.00 : -591768.92 : Estimated Depth Bias at time = 0.00 : -14.76 : Estimated northing and easting = 0.00 : 0.00 : AshtechGps::processRecord() - $GPGGA,154110.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154109.53,3648.7446,N,-12158.2694,W,1,03,00.5,067.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154110.34,3648.7448,N,-12158.2699,W,1,03,00.5,067.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154111.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154111.34,3648.7451,N,-12158.2705,W,1,03,00.5,065.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154112.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 77.994657 : TerrainNav update at dvl time = 77.994657 : _navData-> (x,y) = (4074557.60, 591766.03) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074557.60 : Estimated East Bias at time = 0.00 : -591766.03 : Estimated Depth Bias at time = 0.00 : -15.75 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154112.34,3648.7453,N,-12158.2711,W,1,03,00.5,066.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154113.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154113.34,3648.7456,N,-12158.2719,W,1,03,00.5,065.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154114.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154114.34,3648.7459,N,-12158.2727,W,1,03,00.5,065.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154115.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 80.994451 : TerrainNav update at dvl time = 80.994451 : _navData-> (x,y) = (4074559.21, 591762.54) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074559.21 : Estimated East Bias at time = 0.00 : -591762.54 : Estimated Depth Bias at time = 0.00 : -16.60 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154115.34,3648.7462,N,-12158.2736,W,1,03,00.5,064.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154116.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154116.34,3648.7466,N,-12158.2745,W,1,03,00.5,064.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154117.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154117.34,3648.7469,N,-12158.2755,W,1,03,00.5,063.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154118.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 83.994246 : TerrainNav update at dvl time = 83.994246 : _navData-> (x,y) = (4074560.93, 591758.26) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074560.93 : Estimated East Bias at time = 0.00 : -591758.26 : Estimated Depth Bias at time = 0.00 : -17.66 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154118.34,3648.7472,N,-12158.2765,W,1,03,00.5,063.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154119.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154119.34,3648.7475,N,-12158.2775,W,1,03,00.5,063.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154120.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154120.34,3648.7478,N,-12158.2784,W,1,03,00.5,063.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154121.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 86.994040 : TerrainNav update at dvl time = 86.994040 : _navData-> (x,y) = (4074562.45, 591754.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074562.45 : Estimated East Bias at time = 0.00 : -591754.00 : Estimated Depth Bias at time = 0.00 : -18.73 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154121.34,3648.7480,N,-12158.2793,W,1,03,00.5,063.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154122.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154122.34,3648.7483,N,-12158.2801,W,1,03,00.5,063.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154123.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154123.34,3648.7486,N,-12158.2809,W,1,03,00.5,063.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154124.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 89.993835 : TerrainNav update at dvl time = 89.993835 : _navData-> (x,y) = (4074563.96, 591750.40) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074563.96 : Estimated East Bias at time = 0.00 : -591750.40 : Estimated Depth Bias at time = 0.00 : -19.78 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154124.34,3648.7489,N,-12158.2816,W,1,03,00.5,062.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154125.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154125.34,3648.7492,N,-12158.2824,W,1,03,00.5,063.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154126.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154126.34,3648.7495,N,-12158.2832,W,1,03,00.5,062.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154127.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 92.993629 : TerrainNav update at dvl time = 92.993629 : _navData-> (x,y) = (4074565.75, 591746.83) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074565.75 : Estimated East Bias at time = 0.00 : -591746.83 : Estimated Depth Bias at time = 0.00 : -20.73 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154127.34,3648.7499,N,-12158.2841,W,1,03,00.5,061.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154128.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154128.33,3648.7503,N,-12158.2849,W,1,03,00.5,061.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154129.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154129.33,3648.7506,N,-12158.2858,W,1,03,00.5,061.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154130.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 95.993424 : TerrainNav update at dvl time = 95.993424 : _navData-> (x,y) = (4074567.66, 591743.02) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074567.66 : Estimated East Bias at time = 0.00 : -591743.02 : Estimated Depth Bias at time = 0.00 : -21.62 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154130.33,3648.7509,N,-12158.2866,W,1,03,00.5,061.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154131.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154131.33,3648.7512,N,-12158.2875,W,1,03,00.5,061.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154132.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154132.33,3648.7515,N,-12158.2884,W,1,03,00.5,060.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154133.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 98.993218 : TerrainNav update at dvl time = 98.993218 : _navData-> (x,y) = (4074569.21, 591738.94) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074569.21 : Estimated East Bias at time = 0.00 : -591738.94 : Estimated Depth Bias at time = 0.00 : -22.68 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154133.33,3648.7518,N,-12158.2894,W,1,03,00.5,059.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154134.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154134.33,3648.7521,N,-12158.2904,W,1,03,00.5,060.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154135.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154135.33,3648.7524,N,-12158.2914,W,1,03,00.5,059.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154136.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 102.003012 : TerrainNav update at dvl time = 102.003012 : _navData-> (x,y) = (4074570.87, 591734.51) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074570.87 : Estimated East Bias at time = 0.00 : -591734.51 : Estimated Depth Bias at time = 0.00 : -23.73 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154136.33,3648.7527,N,-12158.2924,W,1,03,00.5,059.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154137.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154137.33,3648.7531,N,-12158.2933,W,1,03,00.5,058.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154138.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154138.33,3648.7535,N,-12158.2943,W,1,03,00.5,058.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154139.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 105.002807 : TerrainNav update at dvl time = 105.002807 : _navData-> (x,y) = (4074572.83, 591730.28) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074572.83 : Estimated East Bias at time = 0.00 : -591730.28 : Estimated Depth Bias at time = 0.00 : -24.80 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154139.33,3648.7538,N,-12158.2952,W,1,03,00.5,058.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154140.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154140.33,3648.7542,N,-12158.2960,W,1,03,00.5,058.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154141.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154141.33,3648.7545,N,-12158.2969,W,1,03,00.5,057.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154142.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 108.002601 : TerrainNav update at dvl time = 108.002601 : _navData-> (x,y) = (4074574.78, 591726.44) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074574.78 : Estimated East Bias at time = 0.00 : -591726.44 : Estimated Depth Bias at time = 0.00 : -25.71 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154142.33,3648.7549,N,-12158.2977,W,1,03,00.5,058.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154143.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154143.33,3648.7552,N,-12158.2986,W,1,03,00.5,057.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154144.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154144.33,3648.7556,N,-12158.2995,W,1,03,00.5,057.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154145.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 111.002396 : TerrainNav update at dvl time = 111.002396 : _navData-> (x,y) = (4074576.70, 591722.44) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074576.70 : Estimated East Bias at time = 0.00 : -591722.44 : Estimated Depth Bias at time = 0.00 : -26.79 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154145.33,3648.7560,N,-12158.3004,W,1,03,00.5,056.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154146.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154146.33,3648.7564,N,-12158.3015,W,1,03,00.5,055.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154147.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154147.33,3648.7567,N,-12158.3025,W,1,03,00.5,056.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154148.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 114.002190 : TerrainNav update at dvl time = 114.002190 : _navData-> (x,y) = (4074578.82, 591717.89) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074578.82 : Estimated East Bias at time = 0.00 : -591717.89 : Estimated Depth Bias at time = 0.00 : -27.76 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154148.33,3648.7571,N,-12158.3035,W,1,03,00.5,055.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154149.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154149.33,3648.7575,N,-12158.3045,W,1,03,00.5,055.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154150.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154150.33,3648.7579,N,-12158.3055,W,1,03,00.5,055.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154151.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 117.001985 : TerrainNav update at dvl time = 117.001985 : _navData-> (x,y) = (4074580.98, 591713.40) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074580.98 : Estimated East Bias at time = 0.00 : -591713.40 : Estimated Depth Bias at time = 0.00 : -28.82 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154151.33,3648.7583,N,-12158.3065,W,1,03,00.5,054.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154152.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154152.33,3648.7587,N,-12158.3074,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,154153.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154153.33,3648.7591,N,-12158.3083,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,154154.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 120.001779 : TerrainNav update at dvl time = 120.001779 : _navData-> (x,y) = (4074582.94, 591709.31) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074582.94 : Estimated East Bias at time = 0.00 : -591709.31 : Estimated Depth Bias at time = 0.00 : -29.92 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154154.33,3648.7594,N,-12158.3092,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,154155.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154155.33,3648.7598,N,-12158.3100,W,1,03,00.5,053.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154156.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154156.33,3648.7601,N,-12158.3109,W,1,03,00.5,052.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154157.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : TerrainNav update at nav time = 123.001574 : TerrainNav update at dvl time = 123.001574 : _navData-> (x,y) = (4074584.83, 591705.42) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074584.83 : Estimated East Bias at time = 0.00 : -591705.42 : Estimated Depth Bias at time = 0.00 : -30.84 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154157.33,3648.7604,N,-12158.3118,W,1,03,00.5,052.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154158.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154158.33,3648.7608,N,-12158.3128,W,1,03,00.5,051.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154159.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154159.33,3648.7611,N,-12158.3137,W,1,03,00.5,050.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154200.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 126.001368 : TerrainNav update at dvl time = 126.001368 : _navData-> (x,y) = (4074586.70, 591701.17) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074586.70 : Estimated East Bias at time = 0.00 : -591701.17 : Estimated Depth Bias at time = 0.00 : -31.94 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154200.33,3648.7615,N,-12158.3147,W,1,03,00.5,050.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154201.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=-0.26 horzlMode=1 horz=5.24 speedMode=1 speed=1.50 : Descend::execute() - Descend terminating on altitude 49.625051 < 50.000000 at time 172.198204 : LayeredControl::execute() -- (t = 172.198204) Behavior descend:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 172.198204) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 172.20 (wplog) The current location (N,E) = 4074587.3 , 591699.8 (wplog) The next waypoint = 4074758.7 , 591347.7 (wplog) The bearing to the next w.p. is 296.0 Degrees. : LayeredControl::execute() -- (t = 172.198204) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,154201.33,3648.7618,N,-12158.3156,W,1,03,00.5,049.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154202.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=32.51 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154202.33,3648.7622,N,-12158.3165,W,1,03,00.5,049.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154203.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 129.001163 : TerrainNav update at dvl time = 129.001163 : _navData-> (x,y) = (4074588.54, 591697.09) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074588.54 : Estimated East Bias at time = 0.00 : -591697.09 : Estimated Depth Bias at time = 0.00 : -33.03 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154203.33,3648.7625,N,-12158.3174,W,1,03,00.5,050.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154204.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=32.20 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154204.33,3648.7629,N,-12158.3183,W,1,03,00.5,049.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154205.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.03 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154205.33,3648.7632,N,-12158.3193,W,1,03,00.5,049.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154206.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 132.000957 : TerrainNav update at dvl time = 132.000957 : _navData-> (x,y) = (4074590.42, 591692.80) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074590.42 : Estimated East Bias at time = 0.00 : -591692.80 : Estimated Depth Bias at time = 0.00 : -33.96 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=32.98 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154206.33,3648.7635,N,-12158.3203,W,1,03,00.5,049.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154207.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154207.33,3648.7639,N,-12158.3212,W,1,03,00.5,049.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154208.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.32 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154208.33,3648.7642,N,-12158.3221,W,1,03,00.5,049.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154209.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 135.000752 : TerrainNav update at dvl time = 135.000752 : _navData-> (x,y) = (4074592.23, 591688.64) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074592.23 : Estimated East Bias at time = 0.00 : -591688.64 : Estimated Depth Bias at time = 0.00 : -34.01 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=33.83 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154209.33,3648.7645,N,-12158.3230,W,1,03,00.5,049.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154210.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154210.33,3648.7648,N,-12158.3240,W,1,03,00.5,049.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154211.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=32.86 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154211.33,3648.7652,N,-12158.3249,W,1,03,00.5,050.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154212.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.23 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 138.000546 : TerrainNav update at dvl time = 138.000546 : _navData-> (x,y) = (4074593.96, 591684.46) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074593.96 : Estimated East Bias at time = 0.00 : -591684.46 : Estimated Depth Bias at time = 0.00 : -33.43 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154212.33,3648.7655,N,-12158.3259,W,1,03,00.5,049.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154213.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.10 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154213.33,3648.7659,N,-12158.3269,W,1,03,00.5,050.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154214.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154214.33,3648.7662,N,-12158.3279,W,1,03,00.5,049.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154215.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=32.47 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 141.000341 : TerrainNav update at dvl time = 141.000341 : _navData-> (x,y) = (4074595.96, 591679.83) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074595.96 : Estimated East Bias at time = 0.00 : -591679.83 : Estimated Depth Bias at time = 0.00 : -32.91 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154215.33,3648.7666,N,-12158.3290,W,1,03,00.5,049.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154216.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=32.48 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154216.33,3648.7670,N,-12158.3301,W,1,03,00.5,049.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154217.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154217.33,3648.7674,N,-12158.3311,W,1,03,00.5,050.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154218.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=32.92 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 144.000135 : TerrainNav update at dvl time = 144.000135 : _navData-> (x,y) = (4074597.96, 591675.17) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074597.96 : Estimated East Bias at time = 0.00 : -591675.17 : Estimated Depth Bias at time = 0.00 : -32.86 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154218.33,3648.7677,N,-12158.3321,W,1,03,00.5,050.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154219.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=32.80 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154219.33,3648.7681,N,-12158.3330,W,1,03,00.5,049.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154220.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.25 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154220.33,3648.7684,N,-12158.3340,W,1,03,00.5,050.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154221.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 146.999930 : TerrainNav update at dvl time = 146.999930 : _navData-> (x,y) = (4074599.77, 591670.91) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074599.77 : Estimated East Bias at time = 0.00 : -591670.91 : Estimated Depth Bias at time = 0.00 : -33.01 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154221.33,3648.7687,N,-12158.3349,W,1,03,00.5,050.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154222.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=32.93 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154222.33,3648.7691,N,-12158.3359,W,1,03,00.5,050.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154223.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.37 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154223.33,3648.7695,N,-12158.3368,W,1,03,00.5,050.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154224.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 149.999724 : TerrainNav update at dvl time = 149.999724 : _navData-> (x,y) = (4074601.87, 591666.64) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074601.87 : Estimated East Bias at time = 0.00 : -591666.64 : Estimated Depth Bias at time = 0.00 : -33.07 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154224.33,3648.7699,N,-12158.3378,W,1,03,00.5,050.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154225.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.25 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154225.33,3648.7703,N,-12158.3388,W,1,03,00.5,049.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154226.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.21 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154226.33,3648.7707,N,-12158.3398,W,1,03,00.5,049.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154227.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 152.999519 : TerrainNav update at dvl time = 152.999519 : _navData-> (x,y) = (4074604.13, 591662.24) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074604.13 : Estimated East Bias at time = 0.00 : -591662.24 : Estimated Depth Bias at time = 0.00 : -33.09 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=33.14 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154227.33,3648.7712,N,-12158.3407,W,1,03,00.5,050.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154228.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154228.33,3648.7716,N,-12158.3417,W,1,03,00.5,049.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154229.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=32.96 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154229.33,3648.7719,N,-12158.3426,W,1,03,00.5,050.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154230.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 155.999313 : TerrainNav update at dvl time = 155.999313 : _navData-> (x,y) = (4074606.26, 591658.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=33.34 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : -4074606.26 : Estimated East Bias at time = 0.00 : -591658.01 : Estimated Depth Bias at time = 0.00 : -33.07 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154230.33,3648.7723,N,-12158.3436,W,1,03,00.5,049.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154231.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154231.33,3648.7727,N,-12158.3446,W,1,03,00.5,050.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154232.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.20 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154232.33,3648.7732,N,-12158.3456,W,1,03,00.5,049.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154233.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.04 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 158.999108 : TerrainNav update at dvl time = 158.999108 : _navData-> (x,y) = (4074608.53, 591653.47) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074608.53 : Estimated East Bias at time = 0.00 : -591653.47 : Estimated Depth Bias at time = 0.00 : -33.12 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154233.33,3648.7736,N,-12158.3466,W,1,03,00.5,050.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154234.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.43 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154234.33,3648.7740,N,-12158.3476,W,1,03,00.5,050.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154235.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154235.33,3648.7745,N,-12158.3485,W,1,03,00.5,050.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154236.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.70 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 161.998902 : TerrainNav update at dvl time = 161.998902 : _navData-> (x,y) = (4074610.95, 591649.18) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074610.95 : Estimated East Bias at time = 0.00 : -591649.18 : Estimated Depth Bias at time = 0.00 : -33.20 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154236.33,3648.7749,N,-12158.3494,W,1,03,00.5,050.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154237.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.79 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154237.33,3648.7754,N,-12158.3504,W,1,03,00.5,050.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154238.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154238.33,3648.7758,N,-12158.3513,W,1,03,00.5,050.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154239.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.80 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 164.998697 : TerrainNav update at dvl time = 164.998697 : _navData-> (x,y) = (4074613.31, 591645.04) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074613.31 : Estimated East Bias at time = 0.00 : -591645.04 : Estimated Depth Bias at time = 0.00 : -33.22 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154239.33,3648.7762,N,-12158.3522,W,1,03,00.5,050.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154240.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.76 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154240.33,3648.7766,N,-12158.3532,W,1,03,00.5,050.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154241.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.07 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154241.33,3648.7771,N,-12158.3541,W,1,03,00.5,049.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154242.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 167.998491 : TerrainNav update at dvl time = 167.998491 : _navData-> (x,y) = (4074615.54, 591640.84) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074615.54 : Estimated East Bias at time = 0.00 : -591640.84 : Estimated Depth Bias at time = 0.00 : -33.30 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154242.33,3648.7775,N,-12158.3550,W,1,03,00.5,050.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154243.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.46 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154243.33,3648.7779,N,-12158.3560,W,1,03,00.5,050.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154244.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.76 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154244.33,3648.7783,N,-12158.3570,W,1,03,00.5,050.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154245.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 170.998286 : TerrainNav update at dvl time = 170.998286 : _navData-> (x,y) = (4074617.76, 591636.39) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074617.76 : Estimated East Bias at time = 0.00 : -591636.39 : Estimated Depth Bias at time = 0.00 : -33.46 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154245.33,3648.7787,N,-12158.3580,W,1,03,00.5,050.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154246.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.62 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154246.33,3648.7791,N,-12158.3590,W,1,03,00.5,050.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154247.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.01 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154247.33,3648.7795,N,-12158.3600,W,1,03,00.5,050.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154248.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 173.998080 : TerrainNav update at dvl time = 173.998080 : _navData-> (x,y) = (4074620.08, 591631.93) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074620.08 : Estimated East Bias at time = 0.00 : -591631.93 : Estimated Depth Bias at time = 0.00 : -33.67 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=34.25 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154248.33,3648.7800,N,-12158.3610,W,1,03,00.5,050.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154249.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154249.33,3648.7804,N,-12158.3619,W,1,03,00.5,050.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154250.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.03 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154250.33,3648.7808,N,-12158.3629,W,1,03,00.5,049.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154251.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 176.997875 : TerrainNav update at dvl time = 176.997875 : _navData-> (x,y) = (4074622.40, 591627.71) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=33.94 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : -4074622.40 : Estimated East Bias at time = 0.00 : -591627.71 : Estimated Depth Bias at time = 0.00 : -33.82 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154251.33,3648.7812,N,-12158.3638,W,1,03,00.5,049.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154252.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154252.33,3648.7816,N,-12158.3647,W,1,03,00.5,050.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154253.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.85 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154253.33,3648.7820,N,-12158.3656,W,1,03,00.5,050.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154254.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.30 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 179.997669 : TerrainNav update at dvl time = 179.997669 : _navData-> (x,y) = (4074624.46, 591623.57) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074624.46 : Estimated East Bias at time = 0.00 : -591623.57 : Estimated Depth Bias at time = 0.00 : -33.88 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154254.33,3648.7824,N,-12158.3666,W,1,03,00.5,050.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154255.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.06 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154255.33,3648.7828,N,-12158.3675,W,1,03,00.5,050.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154256.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154256.33,3648.7832,N,-12158.3685,W,1,03,00.5,050.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154257.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.84 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 182.997464 : TerrainNav update at dvl time = 182.997464 : _navData-> (x,y) = (4074626.63, 591619.23) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074626.63 : Estimated East Bias at time = 0.00 : -591619.23 : Estimated Depth Bias at time = 0.00 : -33.93 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154257.33,3648.7836,N,-12158.3695,W,1,03,00.5,050.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154258.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.74 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154258.33,3648.7840,N,-12158.3705,W,1,03,00.5,049.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154259.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154259.33,3648.7845,N,-12158.3715,W,1,03,00.5,049.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154300.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.75 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 185.997258 : TerrainNav update at dvl time = 185.997258 : _navData-> (x,y) = (4074629.01, 591614.70) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074629.01 : Estimated East Bias at time = 0.00 : -591614.70 : Estimated Depth Bias at time = 0.00 : -34.07 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154300.33,3648.7849,N,-12158.3725,W,1,03,00.5,050.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154301.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.83 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154301.33,3648.7853,N,-12158.3735,W,1,03,00.5,050.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154302.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.87 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154302.33,3648.7857,N,-12158.3745,W,1,03,00.5,049.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154303.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 188.997053 : TerrainNav update at dvl time = 188.997053 : _navData-> (x,y) = (4074631.17, 591610.37) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074631.17 : Estimated East Bias at time = 0.00 : -591610.37 : Estimated Depth Bias at time = 0.00 : -34.22 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154303.33,3648.7861,N,-12158.3754,W,1,03,00.5,049.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154304.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.55 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154304.33,3648.7864,N,-12158.3764,W,1,03,00.5,049.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154305.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.72 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154305.33,3648.7868,N,-12158.3773,W,1,03,00.5,049.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154306.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 191.996847 : TerrainNav update at dvl time = 191.996847 : _navData-> (x,y) = (4074633.09, 591606.18) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074633.09 : Estimated East Bias at time = 0.00 : -591606.18 : Estimated Depth Bias at time = 0.00 : -34.22 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154306.33,3648.7871,N,-12158.3782,W,1,03,00.5,050.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154307.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.30 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154307.33,3648.7875,N,-12158.3791,W,1,03,00.5,050.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154308.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.23 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154308.33,3648.7879,N,-12158.3801,W,1,03,00.5,049.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154309.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 194.996642 : TerrainNav update at dvl time = 194.996642 : _navData-> (x,y) = (4074635.24, 591601.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074635.24 : Estimated East Bias at time = 0.00 : -591601.88 : Estimated Depth Bias at time = 0.00 : -34.09 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=34.07 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154309.33,3648.7883,N,-12158.3811,W,1,03,00.5,050.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154310.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154310.33,3648.7888,N,-12158.3822,W,1,03,00.5,049.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154311.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.88 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154311.33,3648.7892,N,-12158.3832,W,1,03,00.5,049.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154312.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 197.996436 : TerrainNav update at dvl time = 197.996436 : _navData-> (x,y) = (4074637.50, 591597.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=33.92 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : -4074637.50 : Estimated East Bias at time = 0.00 : -591597.16 : Estimated Depth Bias at time = 0.00 : -33.96 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154312.33,3648.7896,N,-12158.3843,W,1,03,00.5,049.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154313.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154313.33,3648.7900,N,-12158.3853,W,1,03,00.5,049.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154314.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.94 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154314.33,3648.7903,N,-12158.3863,W,1,03,00.5,049.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154315.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.43 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 200.996231 : TerrainNav update at dvl time = 200.996231 : _navData-> (x,y) = (4074639.49, 591592.73) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074639.49 : Estimated East Bias at time = 0.00 : -591592.73 : Estimated Depth Bias at time = 0.00 : -33.98 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154315.33,3648.7907,N,-12158.3872,W,1,03,00.5,050.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154316.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.64 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154316.33,3648.7910,N,-12158.3881,W,1,03,00.5,050.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154317.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154317.33,3648.7914,N,-12158.3890,W,1,03,00.5,050.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154318.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.50 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 203.996025 : TerrainNav update at dvl time = 203.996025 : _navData-> (x,y) = (4074641.50, 591588.72) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074641.50 : Estimated East Bias at time = 0.00 : -591588.72 : Estimated Depth Bias at time = 0.00 : -33.90 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154318.33,3648.7918,N,-12158.3899,W,1,03,00.5,050.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154319.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.08 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154319.33,3648.7922,N,-12158.3908,W,1,03,00.5,050.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154320.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154320.33,3648.7926,N,-12158.3918,W,1,03,00.5,050.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154321.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.20 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 206.995820 : TerrainNav update at dvl time = 206.995820 : _navData-> (x,y) = (4074643.67, 591584.39) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074643.67 : Estimated East Bias at time = 0.00 : -591584.39 : Estimated Depth Bias at time = 0.00 : -33.74 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154321.33,3648.7930,N,-12158.3928,W,1,03,00.5,050.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154322.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.27 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154322.33,3648.7934,N,-12158.3939,W,1,03,00.5,050.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154323.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=33.72 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154323.33,3648.7938,N,-12158.3950,W,1,03,00.5,049.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154324.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 209.995614 : TerrainNav update at dvl time = 209.995614 : _navData-> (x,y) = (4074645.96, 591579.52) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074645.96 : Estimated East Bias at time = 0.00 : -591579.52 : Estimated Depth Bias at time = 0.00 : -33.83 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154324.33,3648.7943,N,-12158.3961,W,1,03,00.5,050.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154325.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.11 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154325.33,3648.7947,N,-12158.3971,W,1,03,00.5,050.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154326.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.37 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154326.33,3648.7951,N,-12158.3981,W,1,03,00.5,050.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154327.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 212.995409 : TerrainNav update at dvl time = 212.995409 : _navData-> (x,y) = (4074648.16, 591575.13) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074648.16 : Estimated East Bias at time = 0.00 : -591575.13 : Estimated Depth Bias at time = 0.00 : -34.09 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154327.33,3648.7955,N,-12158.3990,W,1,03,00.5,050.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154328.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.57 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154328.33,3648.7958,N,-12158.3999,W,1,03,00.5,051.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154329.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.95 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154329.33,3648.7962,N,-12158.4008,W,1,03,00.5,050.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154330.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 215.995203 : TerrainNav update at dvl time = 215.995203 : _navData-> (x,y) = (4074650.14, 591571.11) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074650.14 : Estimated East Bias at time = 0.00 : -591571.11 : Estimated Depth Bias at time = 0.00 : -34.14 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=34.58 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154330.33,3648.7966,N,-12158.4017,W,1,03,00.5,050.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154331.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154331.33,3648.7969,N,-12158.4026,W,1,03,00.5,050.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154332.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.61 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154332.33,3648.7973,N,-12158.4036,W,1,03,00.5,050.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154333.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 218.994998 : TerrainNav update at dvl time = 218.994998 : _navData-> (x,y) = (4074652.26, 591566.71) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074652.26 : Estimated East Bias at time = 0.00 : -591566.71 : Estimated Depth Bias at time = 0.00 : -34.11 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=34.48 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154333.33,3648.7977,N,-12158.4047,W,1,03,00.5,050.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154334.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154334.33,3648.7982,N,-12158.4057,W,1,03,00.5,050.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154335.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.69 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154335.33,3648.7986,N,-12158.4067,W,1,03,00.5,049.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154336.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.88 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 221.994792 : TerrainNav update at dvl time = 221.994792 : _navData-> (x,y) = (4074654.50, 591562.07) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074654.50 : Estimated East Bias at time = 0.00 : -591562.07 : Estimated Depth Bias at time = 0.00 : -34.30 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154336.34,3648.7990,N,-12158.4078,W,1,03,00.5,050.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154337.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.03 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154337.34,3648.7994,N,-12158.4088,W,1,03,00.5,050.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154338.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154338.34,3648.7998,N,-12158.4098,W,1,03,00.5,050.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154339.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.71 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 224.994587 : TerrainNav update at dvl time = 224.994587 : _navData-> (x,y) = (4074656.59, 591557.58) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074656.59 : Estimated East Bias at time = 0.00 : -591557.58 : Estimated Depth Bias at time = 0.00 : -34.51 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154339.34,3648.8001,N,-12158.4107,W,1,03,00.5,049.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154340.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.19 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154340.34,3648.8005,N,-12158.4117,W,1,03,00.5,050.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154341.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154341.34,3648.8009,N,-12158.4127,W,1,03,00.5,050.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154342.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.90 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 227.994381 : TerrainNav update at dvl time = 227.994381 : _navData-> (x,y) = (4074658.58, 591553.27) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074658.58 : Estimated East Bias at time = 0.00 : -591553.27 : Estimated Depth Bias at time = 0.00 : -34.77 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154342.34,3648.8012,N,-12158.4136,W,1,03,00.5,050.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154343.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.16 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154343.34,3648.8016,N,-12158.4146,W,1,03,00.5,049.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154344.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.57 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154344.34,3648.8020,N,-12158.4156,W,1,03,00.5,049.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154345.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 230.994176 : TerrainNav update at dvl time = 230.994176 : _navData-> (x,y) = (4074660.69, 591548.89) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074660.69 : Estimated East Bias at time = 0.00 : -591548.89 : Estimated Depth Bias at time = 0.00 : -34.78 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154345.34,3648.8024,N,-12158.4166,W,1,03,00.5,049.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154346.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.50 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154346.34,3648.8028,N,-12158.4176,W,1,03,00.5,049.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154347.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.39 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154347.34,3648.8033,N,-12158.4187,W,1,03,00.5,049.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154348.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 233.993970 : TerrainNav update at dvl time = 233.993970 : _navData-> (x,y) = (4074662.96, 591544.18) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074662.96 : Estimated East Bias at time = 0.00 : -591544.18 : Estimated Depth Bias at time = 0.00 : -34.84 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154348.34,3648.8037,N,-12158.4197,W,1,03,00.5,049.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154349.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.46 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154349.34,3648.8040,N,-12158.4207,W,1,03,00.5,050.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154350.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.84 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154350.34,3648.8044,N,-12158.4217,W,1,03,00.5,050.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154351.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 236.993765 : TerrainNav update at dvl time = 236.993765 : _navData-> (x,y) = (4074665.06, 591539.86) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074665.06 : Estimated East Bias at time = 0.00 : -591539.86 : Estimated Depth Bias at time = 0.00 : -34.85 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=34.64 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154351.34,3648.8048,N,-12158.4226,W,1,03,00.5,049.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154352.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154352.34,3648.8052,N,-12158.4235,W,1,03,00.5,050.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154353.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.86 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154353.34,3648.8056,N,-12158.4245,W,1,03,00.5,049.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154354.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 239.993559 : TerrainNav update at dvl time = 239.993559 : _navData-> (x,y) = (4074667.19, 591535.49) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074667.19 : Estimated East Bias at time = 0.00 : -591535.49 : Estimated Depth Bias at time = 0.00 : -34.78 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=34.76 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154354.33,3648.8060,N,-12158.4255,W,1,03,00.5,050.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154355.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154355.33,3648.8064,N,-12158.4266,W,1,03,00.5,049.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154356.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.73 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154356.33,3648.8068,N,-12158.4276,W,1,03,00.5,050.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154357.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.02 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 242.993354 : TerrainNav update at dvl time = 242.993354 : _navData-> (x,y) = (4074669.38, 591530.97) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074669.38 : Estimated East Bias at time = 0.00 : -591530.97 : Estimated Depth Bias at time = 0.00 : -34.78 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154357.33,3648.8072,N,-12158.4286,W,1,03,00.5,050.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154358.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.66 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154358.33,3648.8076,N,-12158.4296,W,1,03,00.5,049.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154359.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154359.33,3648.8081,N,-12158.4306,W,1,03,00.5,050.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154400.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.06 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 245.993148 : TerrainNav update at dvl time = 245.993148 : _navData-> (x,y) = (4074671.71, 591526.44) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074671.71 : Estimated East Bias at time = 0.00 : -591526.44 : Estimated Depth Bias at time = 0.00 : -34.82 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154400.33,3648.8085,N,-12158.4316,W,1,03,00.5,049.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154401.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.93 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154401.33,3648.8089,N,-12158.4326,W,1,03,00.5,049.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154402.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154402.33,3648.8094,N,-12158.4336,W,1,03,00.5,050.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154403.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.89 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 249.002942 : TerrainNav update at dvl time = 249.002942 : _navData-> (x,y) = (4074673.98, 591521.90) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074673.98 : Estimated East Bias at time = 0.00 : -591521.90 : Estimated Depth Bias at time = 0.00 : -34.99 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154403.33,3648.8097,N,-12158.4346,W,1,03,00.5,049.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154404.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.00 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154404.33,3648.8101,N,-12158.4355,W,1,03,00.5,050.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154405.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.32 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154405.33,3648.8105,N,-12158.4364,W,1,03,00.5,050.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154406.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 252.002737 : TerrainNav update at dvl time = 252.002737 : _navData-> (x,y) = (4074675.94, 591517.80) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074675.94 : Estimated East Bias at time = 0.00 : -591517.80 : Estimated Depth Bias at time = 0.00 : -35.03 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154406.33,3648.8108,N,-12158.4373,W,1,03,00.5,050.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154407.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.00 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154407.33,3648.8112,N,-12158.4383,W,1,03,00.5,050.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154408.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.78 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154408.33,3648.8116,N,-12158.4392,W,1,03,00.5,049.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154409.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 255.002531 : TerrainNav update at dvl time = 255.002531 : _navData-> (x,y) = (4074678.00, 591513.51) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074678.00 : Estimated East Bias at time = 0.00 : -591513.51 : Estimated Depth Bias at time = 0.00 : -35.01 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154409.33,3648.8120,N,-12158.4403,W,1,03,00.5,049.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154410.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.63 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154410.33,3648.8124,N,-12158.4413,W,1,03,00.5,049.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154411.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.15 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154411.33,3648.8128,N,-12158.4424,W,1,03,00.5,049.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154412.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 258.002326 : TerrainNav update at dvl time = 258.002326 : _navData-> (x,y) = (4074680.32, 591508.70) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074680.32 : Estimated East Bias at time = 0.00 : -591508.70 : Estimated Depth Bias at time = 0.00 : -35.09 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=35.10 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154412.33,3648.8133,N,-12158.4435,W,1,03,00.5,050.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154413.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154413.33,3648.8137,N,-12158.4445,W,1,03,00.5,049.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154414.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.68 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154414.33,3648.8141,N,-12158.4455,W,1,03,00.5,049.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154415.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 261.002120 : TerrainNav update at dvl time = 261.002120 : _navData-> (x,y) = (4074682.59, 591504.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=35.32 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : -4074682.59 : Estimated East Bias at time = 0.00 : -591504.17 : Estimated Depth Bias at time = 0.00 : -35.28 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154415.33,3648.8145,N,-12158.4465,W,1,03,00.5,049.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154416.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154416.33,3648.8149,N,-12158.4474,W,1,03,00.5,049.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154417.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.81 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154417.33,3648.8153,N,-12158.4483,W,1,03,00.5,050.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154418.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.25 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 264.001915 : TerrainNav update at dvl time = 264.001915 : _navData-> (x,y) = (4074684.71, 591500.05) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074684.71 : Estimated East Bias at time = 0.00 : -591500.05 : Estimated Depth Bias at time = 0.00 : -35.32 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154418.33,3648.8157,N,-12158.4492,W,1,03,00.5,049.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154419.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.23 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154419.33,3648.8160,N,-12158.4502,W,1,03,00.5,049.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154420.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154420.33,3648.8164,N,-12158.4511,W,1,03,00.5,049.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154421.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.91 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 267.001709 : TerrainNav update at dvl time = 267.001709 : _navData-> (x,y) = (4074686.71, 591495.81) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074686.71 : Estimated East Bias at time = 0.00 : -591495.81 : Estimated Depth Bias at time = 0.00 : -35.28 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154421.33,3648.8168,N,-12158.4521,W,1,03,00.5,049.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154422.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.83 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154422.33,3648.8171,N,-12158.4530,W,1,03,00.5,049.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154423.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154423.33,3648.8175,N,-12158.4540,W,1,03,00.5,050.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154424.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.16 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 270.001503 : TerrainNav update at dvl time = 270.001503 : _navData-> (x,y) = (4074688.74, 591491.53) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074688.74 : Estimated East Bias at time = 0.00 : -591491.53 : Estimated Depth Bias at time = 0.00 : -35.19 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154424.33,3648.8179,N,-12158.4550,W,1,03,00.5,049.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154425.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.55 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154425.33,3648.8183,N,-12158.4560,W,1,03,00.5,049.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154426.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.70 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154426.33,3648.8188,N,-12158.4571,W,1,03,00.5,049.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154427.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 273.001298 : TerrainNav update at dvl time = 273.001298 : _navData-> (x,y) = (4074691.10, 591486.65) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074691.10 : Estimated East Bias at time = 0.00 : -591486.65 : Estimated Depth Bias at time = 0.00 : -35.20 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154427.33,3648.8192,N,-12158.4583,W,1,03,00.5,049.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154428.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.96 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154428.33,3648.8197,N,-12158.4593,W,1,03,00.5,049.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154429.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.16 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154429.33,3648.8201,N,-12158.4604,W,1,03,00.5,049.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154430.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 276.001092 : TerrainNav update at dvl time = 276.001092 : _navData-> (x,y) = (4074693.38, 591481.93) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074693.38 : Estimated East Bias at time = 0.00 : -591481.93 : Estimated Depth Bias at time = 0.00 : -35.35 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154430.33,3648.8205,N,-12158.4613,W,1,03,00.5,050.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154431.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=36.08 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154431.33,3648.8208,N,-12158.4622,W,1,03,00.5,050.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154432.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.90 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154432.33,3648.8212,N,-12158.4630,W,1,03,00.5,050.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154433.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 279.000887 : TerrainNav update at dvl time = 279.000887 : _navData-> (x,y) = (4074695.29, 591478.15) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074695.29 : Estimated East Bias at time = 0.00 : -591478.15 : Estimated Depth Bias at time = 0.00 : -35.28 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=36.23 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154433.33,3648.8215,N,-12158.4638,W,1,03,00.5,051.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154434.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154434.33,3648.8219,N,-12158.4647,W,1,03,00.5,050.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154435.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.80 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154435.33,3648.8222,N,-12158.4657,W,1,03,00.5,051.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154436.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 282.000681 : TerrainNav update at dvl time = 282.000681 : _navData-> (x,y) = (4074697.28, 591473.99) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074697.28 : Estimated East Bias at time = 0.00 : -591473.99 : Estimated Depth Bias at time = 0.00 : -35.04 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=34.80 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154436.33,3648.8226,N,-12158.4667,W,1,03,00.5,050.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154437.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154437.33,3648.8230,N,-12158.4678,W,1,03,00.5,049.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154438.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=34.88 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154438.33,3648.8235,N,-12158.4689,W,1,03,00.5,050.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154439.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.39 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 285.000476 : TerrainNav update at dvl time = 285.000476 : _navData-> (x,y) = (4074699.59, 591469.07) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074699.59 : Estimated East Bias at time = 0.00 : -591469.07 : Estimated Depth Bias at time = 0.00 : -35.12 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154439.33,3648.8239,N,-12158.4700,W,1,03,00.5,050.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154440.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.55 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154440.33,3648.8243,N,-12158.4711,W,1,03,00.5,050.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154441.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154441.33,3648.8248,N,-12158.4721,W,1,03,00.5,050.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154442.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=36.35 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 288.000271 : TerrainNav update at dvl time = 288.000271 : _navData-> (x,y) = (4074701.85, 591464.36) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074701.85 : Estimated East Bias at time = 0.00 : -591464.36 : Estimated Depth Bias at time = 0.00 : -35.56 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154442.33,3648.8251,N,-12158.4731,W,1,03,00.5,051.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154443.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=37.16 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154443.33,3648.8255,N,-12158.4740,W,1,03,00.5,051.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154444.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154444.33,3648.8259,N,-12158.4749,W,1,03,00.5,051.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154445.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=37.04 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 291.000065 : TerrainNav update at dvl time = 291.000065 : _navData-> (x,y) = (4074703.80, 591460.35) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074703.80 : Estimated East Bias at time = 0.00 : -591460.35 : Estimated Depth Bias at time = 0.00 : -35.78 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154445.33,3648.8262,N,-12158.4758,W,1,03,00.5,051.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154446.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=36.84 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154446.33,3648.8266,N,-12158.4766,W,1,03,00.5,051.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154447.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=36.83 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154447.33,3648.8269,N,-12158.4776,W,1,03,00.5,051.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154448.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 293.999860 : TerrainNav update at dvl time = 293.999860 : _navData-> (x,y) = (4074705.76, 591456.24) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074705.76 : Estimated East Bias at time = 0.00 : -591456.24 : Estimated Depth Bias at time = 0.00 : -35.83 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154448.33,3648.8273,N,-12158.4786,W,1,03,00.5,050.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154449.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=35.98 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154449.33,3648.8277,N,-12158.4796,W,1,03,00.5,050.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154450.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=36.01 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154450.33,3648.8282,N,-12158.4807,W,1,03,00.5,050.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154451.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 296.999654 : TerrainNav update at dvl time = 296.999654 : _navData-> (x,y) = (4074708.08, 591451.49) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074708.08 : Estimated East Bias at time = 0.00 : -591451.49 : Estimated Depth Bias at time = 0.00 : -36.14 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154451.33,3648.8286,N,-12158.4818,W,1,03,00.5,050.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154452.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=36.52 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154452.33,3648.8291,N,-12158.4829,W,1,03,00.5,050.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154453.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=37.33 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154453.33,3648.8295,N,-12158.4839,W,1,03,00.5,050.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154454.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 299.999449 : TerrainNav update at dvl time = 299.999449 : _navData-> (x,y) = (4074710.45, 591446.79) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074710.45 : Estimated East Bias at time = 0.00 : -591446.79 : Estimated Depth Bias at time = 0.00 : -36.59 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=37.07 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154454.33,3648.8299,N,-12158.4849,W,1,03,00.5,050.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154455.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154455.33,3648.8303,N,-12158.4858,W,1,03,00.5,051.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154456.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=37.82 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154456.33,3648.8307,N,-12158.4866,W,1,03,00.5,050.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154457.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 302.999243 : TerrainNav update at dvl time = 302.999243 : _navData-> (x,y) = (4074712.49, 591442.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=37.59 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : -4074712.49 : Estimated East Bias at time = 0.00 : -591442.78 : Estimated Depth Bias at time = 0.00 : -36.91 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154457.33,3648.8310,N,-12158.4875,W,1,03,00.5,050.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154458.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154458.33,3648.8314,N,-12158.4884,W,1,03,00.5,051.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154459.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=37.88 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154459.33,3648.8317,N,-12158.4894,W,1,03,00.5,050.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154500.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=37.40 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 305.999038 : TerrainNav update at dvl time = 305.999038 : _navData-> (x,y) = (4074714.48, 591438.53) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074714.48 : Estimated East Bias at time = 0.00 : -591438.53 : Estimated Depth Bias at time = 0.00 : -36.84 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154500.33,3648.8321,N,-12158.4904,W,1,03,00.5,050.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154501.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=37.75 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154501.33,3648.8325,N,-12158.4915,W,1,03,00.5,050.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154502.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154502.33,3648.8330,N,-12158.4926,W,1,03,00.5,051.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154503.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=37.75 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 308.998832 : TerrainNav update at dvl time = 308.998832 : _navData-> (x,y) = (4074716.71, 591433.79) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074716.71 : Estimated East Bias at time = 0.00 : -591433.79 : Estimated Depth Bias at time = 0.00 : -36.95 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154503.33,3648.8334,N,-12158.4936,W,1,03,00.5,050.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154504.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=38.52 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154504.33,3648.8338,N,-12158.4946,W,1,03,00.5,051.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154505.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154505.33,3648.8342,N,-12158.4955,W,1,03,00.5,051.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154506.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=38.39 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 311.998626 : TerrainNav update at dvl time = 311.998626 : _navData-> (x,y) = (4074718.88, 591429.49) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074718.88 : Estimated East Bias at time = 0.00 : -591429.49 : Estimated Depth Bias at time = 0.00 : -37.24 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154506.33,3648.8346,N,-12158.4964,W,1,03,00.5,051.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154507.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=38.29 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154507.33,3648.8349,N,-12158.4974,W,1,03,00.5,050.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154508.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=38.35 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154508.33,3648.8353,N,-12158.4983,W,1,03,00.5,050.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154509.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 314.998421 : TerrainNav update at dvl time = 314.998421 : _navData-> (x,y) = (4074720.97, 591425.20) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074720.97 : Estimated East Bias at time = 0.00 : -591425.20 : Estimated Depth Bias at time = 0.00 : -37.70 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154509.33,3648.8357,N,-12158.4993,W,1,03,00.5,051.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154510.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=38.49 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154510.33,3648.8361,N,-12158.5004,W,1,03,00.5,051.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154511.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=39.19 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154511.33,3648.8365,N,-12158.5014,W,1,03,00.5,051.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154512.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 317.998215 : TerrainNav update at dvl time = 317.998215 : _navData-> (x,y) = (4074723.03, 591420.69) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074723.03 : Estimated East Bias at time = 0.00 : -591420.69 : Estimated Depth Bias at time = 0.00 : -38.05 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154512.33,3648.8369,N,-12158.5023,W,1,03,00.5,051.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154513.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=39.56 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154513.33,3648.8372,N,-12158.5033,W,1,03,00.5,051.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154514.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=39.80 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154514.33,3648.8376,N,-12158.5042,W,1,03,00.5,050.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154515.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 320.998010 : TerrainNav update at dvl time = 320.998010 : _navData-> (x,y) = (4074725.07, 591416.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074725.07 : Estimated East Bias at time = 0.00 : -591416.56 : Estimated Depth Bias at time = 0.00 : -38.40 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=39.52 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154515.33,3648.8380,N,-12158.5051,W,1,03,00.5,051.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154516.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154516.33,3648.8384,N,-12158.5060,W,1,03,00.5,050.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154517.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=39.29 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154517.33,3648.8388,N,-12158.5070,W,1,03,00.5,050.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154518.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 323.997804 : TerrainNav update at dvl time = 323.997804 : _navData-> (x,y) = (4074727.31, 591412.20) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=39.03 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : -4074727.31 : Estimated East Bias at time = 0.00 : -591412.20 : Estimated Depth Bias at time = 0.00 : -38.79 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154518.33,3648.8392,N,-12158.5080,W,1,03,00.5,051.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154519.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154519.33,3648.8396,N,-12158.5091,W,1,03,00.5,050.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154520.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=39.76 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154520.33,3648.8401,N,-12158.5101,W,1,03,00.5,051.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154521.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=40.44 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 326.997599 : TerrainNav update at dvl time = 326.997599 : _navData-> (x,y) = (4074729.52, 591407.69) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074729.52 : Estimated East Bias at time = 0.00 : -591407.69 : Estimated Depth Bias at time = 0.00 : -39.28 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154521.33,3648.8404,N,-12158.5110,W,1,03,00.5,051.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154522.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=40.94 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154522.33,3648.8408,N,-12158.5119,W,1,03,00.5,051.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154523.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154523.33,3648.8412,N,-12158.5128,W,1,03,00.5,051.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154524.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=41.27 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 329.997394 : TerrainNav update at dvl time = 329.997394 : _navData-> (x,y) = (4074731.60, 591403.67) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074731.60 : Estimated East Bias at time = 0.00 : -591403.67 : Estimated Depth Bias at time = 0.00 : -39.78 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154524.33,3648.8416,N,-12158.5137,W,1,03,00.5,051.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154525.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=40.85 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154525.33,3648.8420,N,-12158.5147,W,1,03,00.5,051.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154526.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154526.33,3648.8424,N,-12158.5156,W,1,03,00.5,051.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154527.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=41.25 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 332.997188 : TerrainNav update at dvl time = 332.997188 : _navData-> (x,y) = (4074733.81, 591399.35) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074733.81 : Estimated East Bias at time = 0.00 : -591399.35 : Estimated Depth Bias at time = 0.00 : -40.13 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154527.33,3648.8428,N,-12158.5166,W,1,03,00.5,051.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154528.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=41.54 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154528.33,3648.8432,N,-12158.5176,W,1,03,00.5,051.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154529.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=41.74 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154529.33,3648.8436,N,-12158.5185,W,1,03,00.5,051.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154530.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 335.996983 : TerrainNav update at dvl time = 335.996983 : _navData-> (x,y) = (4074736.04, 591395.13) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074736.04 : Estimated East Bias at time = 0.00 : -591395.13 : Estimated Depth Bias at time = 0.00 : -40.57 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154530.33,3648.8440,N,-12158.5194,W,1,03,00.5,051.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154531.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=41.93 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154531.33,3648.8444,N,-12158.5203,W,1,03,00.5,050.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154532.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=41.92 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154532.33,3648.8448,N,-12158.5213,W,1,03,00.5,050.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154533.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 338.996777 : TerrainNav update at dvl time = 338.996777 : _navData-> (x,y) = (4074738.17, 591390.94) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074738.17 : Estimated East Bias at time = 0.00 : -591390.94 : Estimated Depth Bias at time = 0.00 : -41.07 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154533.33,3648.8452,N,-12158.5222,W,1,03,00.5,051.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154534.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=42.43 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154534.33,3648.8456,N,-12158.5232,W,1,03,00.5,051.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154535.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=42.81 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154535.33,3648.8460,N,-12158.5241,W,1,03,00.5,051.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154536.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 341.996572 : TerrainNav update at dvl time = 341.996572 : _navData-> (x,y) = (4074740.22, 591386.73) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074740.22 : Estimated East Bias at time = 0.00 : -591386.73 : Estimated Depth Bias at time = 0.00 : -41.57 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=43.04 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154536.33,3648.8463,N,-12158.5250,W,1,03,00.5,051.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154537.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154537.33,3648.8467,N,-12158.5260,W,1,03,00.5,051.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154538.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=42.76 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154538.33,3648.8471,N,-12158.5269,W,1,03,00.5,051.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154539.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 344.996366 : TerrainNav update at dvl time = 344.996366 : _navData-> (x,y) = (4074742.35, 591382.44) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=43.25 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : -4074742.35 : Estimated East Bias at time = 0.00 : -591382.44 : Estimated Depth Bias at time = 0.00 : -42.15 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154539.33,3648.8475,N,-12158.5279,W,1,03,00.5,051.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154540.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154540.33,3648.8479,N,-12158.5289,W,1,03,00.5,051.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154541.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=43.66 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154541.33,3648.8483,N,-12158.5299,W,1,03,00.5,051.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154542.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=43.94 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 347.996161 : TerrainNav update at dvl time = 347.996161 : _navData-> (x,y) = (4074744.52, 591377.98) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074744.52 : Estimated East Bias at time = 0.00 : -591377.98 : Estimated Depth Bias at time = 0.00 : -42.73 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154542.33,3648.8487,N,-12158.5309,W,1,03,00.5,051.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154543.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=44.20 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154543.33,3648.8491,N,-12158.5318,W,1,03,00.5,051.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154544.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154544.33,3648.8494,N,-12158.5327,W,1,03,00.5,051.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154545.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=44.92 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 350.995955 : TerrainNav update at dvl time = 350.995955 : _navData-> (x,y) = (4074746.49, 591373.89) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074746.49 : Estimated East Bias at time = 0.00 : -591373.89 : Estimated Depth Bias at time = 0.00 : -43.30 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154545.33,3648.8498,N,-12158.5336,W,1,03,00.5,050.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154546.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.08 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154546.33,3648.8502,N,-12158.5345,W,1,03,00.5,050.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154547.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154547.33,3648.8505,N,-12158.5354,W,1,03,00.5,051.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154548.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=44.70 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 353.995749 : TerrainNav update at dvl time = 353.995749 : _navData-> (x,y) = (4074748.45, 591369.82) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074748.45 : Estimated East Bias at time = 0.00 : -591369.82 : Estimated Depth Bias at time = 0.00 : -43.82 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154548.33,3648.8509,N,-12158.5364,W,1,03,00.5,050.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154549.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=44.93 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154549.33,3648.8513,N,-12158.5374,W,1,03,00.5,051.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154550.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.49 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154550.33,3648.8517,N,-12158.5384,W,1,03,00.5,051.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154551.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 356.995544 : TerrainNav update at dvl time = 356.995544 : _navData-> (x,y) = (4074750.65, 591365.18) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074750.65 : Estimated East Bias at time = 0.00 : -591365.18 : Estimated Depth Bias at time = 0.00 : -44.32 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154551.33,3648.8521,N,-12158.5395,W,1,03,00.5,051.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154552.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.74 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154552.33,3648.8525,N,-12158.5405,W,1,03,00.5,051.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154553.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=46.68 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154553.33,3648.8529,N,-12158.5415,W,1,03,00.5,051.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154554.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 359.995338 : TerrainNav update at dvl time = 359.995338 : _navData-> (x,y) = (4074752.77, 591360.68) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074752.77 : Estimated East Bias at time = 0.00 : -591360.68 : Estimated Depth Bias at time = 0.00 : -45.06 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154554.33,3648.8533,N,-12158.5425,W,1,03,00.5,051.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154555.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=47.04 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154555.33,3648.8536,N,-12158.5433,W,1,03,00.5,052.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154556.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=47.04 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154556.33,3648.8540,N,-12158.5442,W,1,03,00.5,051.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154557.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 362.995133 : TerrainNav update at dvl time = 362.995133 : _navData-> (x,y) = (4074754.65, 591356.87) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074754.65 : Estimated East Bias at time = 0.00 : -591356.87 : Estimated Depth Bias at time = 0.00 : -45.61 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=46.79 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154557.33,3648.8543,N,-12158.5450,W,1,03,00.5,051.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154558.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154558.33,3648.8547,N,-12158.5458,W,1,03,00.5,051.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154559.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=47.18 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154559.33,3648.8551,N,-12158.5467,W,1,03,00.5,051.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154600.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 365.994927 : TerrainNav update at dvl time = 365.994927 : _navData-> (x,y) = (4074756.70, 591352.92) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074756.70 : Estimated East Bias at time = 0.00 : -591352.92 : Estimated Depth Bias at time = 0.00 : -46.19 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=47.21 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154600.33,3648.8555,N,-12158.5477,W,1,03,00.5,051.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154601.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154601.33,3648.8559,N,-12158.5487,W,1,03,00.5,051.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154602.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=48.06 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154602.34,3648.8563,N,-12158.5497,W,1,03,00.5,051.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154603.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=48.73 horzlMode=3 horz=5.17 speedMode=1 speed=1.50 : TerrainNav update at nav time = 368.994722 : TerrainNav update at dvl time = 368.994722 : _navData-> (x,y) = (4074758.95, 591348.44) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074758.95 : Estimated East Bias at time = 0.00 : -591348.44 : Estimated Depth Bias at time = 0.00 : -46.89 : Estimated northing and easting = 0.00 : 0.00 : Waypoint has set the state to finished. : Waypoint (4074758.7, 591347.7), reached at t = 414.60 (wplog) : Vehicle Position is error is (-0.5, -0.1) : LayeredControl::execute() -- (t = 414.601598) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 414.601598) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 414.61 (wplog) The current location (N,E) = 4074759.3 , 591347.8 (wplog) The next waypoint = 4074710.1 , 590989.1 (wplog) The bearing to the next w.p. is 262.2 Degrees. : LayeredControl::execute() -- (t = 414.611597) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,154603.34,3648.8567,N,-12158.5507,W,1,03,00.5,051.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154604.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=49.06 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154604.34,3648.8571,N,-12158.5516,W,1,03,00.5,051.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154605.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154605.34,3648.8575,N,-12158.5526,W,1,03,00.5,052.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154606.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=49.88 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 371.994517 : TerrainNav update at dvl time = 371.994517 : _navData-> (x,y) = (4074761.06, 591344.19) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074761.06 : Estimated East Bias at time = 0.00 : -591344.19 : Estimated Depth Bias at time = 0.00 : -47.50 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154606.34,3648.8578,N,-12158.5535,W,1,03,00.5,051.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154607.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=49.50 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154607.34,3648.8581,N,-12158.5544,W,1,03,00.5,051.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154608.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154608.34,3648.8583,N,-12158.5553,W,1,03,00.5,051.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154609.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=49.66 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 374.994311 : TerrainNav update at dvl time = 374.994311 : _navData-> (x,y) = (4074762.14, 591340.11) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074762.14 : Estimated East Bias at time = 0.00 : -591340.11 : Estimated Depth Bias at time = 0.00 : -48.18 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154609.34,3648.8583,N,-12158.5562,W,1,03,00.5,051.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154610.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=49.79 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154610.34,3648.8583,N,-12158.5571,W,1,03,00.5,051.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154611.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.61 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154611.34,3648.8583,N,-12158.5580,W,1,03,00.5,052.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154612.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 377.994106 : TerrainNav update at dvl time = 377.994106 : _navData-> (x,y) = (4074761.84, 591336.13) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074761.84 : Estimated East Bias at time = 0.00 : -591336.13 : Estimated Depth Bias at time = 0.00 : -48.75 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154612.34,3648.8581,N,-12158.5589,W,1,03,00.5,052.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154613.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=51.32 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154613.34,3648.8580,N,-12158.5598,W,1,03,00.5,053.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154614.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=51.43 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154614.34,3648.8578,N,-12158.5606,W,1,03,00.5,053.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154615.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 380.993900 : TerrainNav update at dvl time = 380.993900 : _navData-> (x,y) = (4074760.80, 591332.25) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074760.80 : Estimated East Bias at time = 0.00 : -591332.25 : Estimated Depth Bias at time = 0.00 : -49.15 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154615.34,3648.8576,N,-12158.5615,W,1,03,00.5,052.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154616.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=51.20 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154616.34,3648.8573,N,-12158.5624,W,1,03,00.5,052.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154617.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=51.19 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154617.34,3648.8571,N,-12158.5633,W,1,03,00.5,050.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154618.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 383.993695 : TerrainNav update at dvl time = 383.993695 : _navData-> (x,y) = (4074759.46, 591328.39) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074759.46 : Estimated East Bias at time = 0.00 : -591328.39 : Estimated Depth Bias at time = 0.00 : -49.75 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=50.70 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154618.34,3648.8568,N,-12158.5641,W,1,03,00.5,050.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154619.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154619.34,3648.8566,N,-12158.5650,W,1,03,00.5,051.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154620.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=51.39 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154620.33,3648.8563,N,-12158.5658,W,1,03,00.5,051.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154621.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 386.993489 : TerrainNav update at dvl time = 386.993489 : _navData-> (x,y) = (4074758.06, 591324.65) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074758.06 : Estimated East Bias at time = 0.00 : -591324.65 : Estimated Depth Bias at time = 0.00 : -50.62 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=51.99 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154621.33,3648.8561,N,-12158.5666,W,1,03,00.5,052.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154622.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154622.33,3648.8559,N,-12158.5675,W,1,03,00.5,052.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154623.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=53.79 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154623.33,3648.8556,N,-12158.5683,W,1,03,00.5,054.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154624.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.58 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 389.993284 : TerrainNav update at dvl time = 389.993284 : _navData-> (x,y) = (4074756.75, 591320.92) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074756.75 : Estimated East Bias at time = 0.00 : -591320.92 : Estimated Depth Bias at time = 0.00 : -51.62 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154624.33,3648.8554,N,-12158.5692,W,1,03,00.5,053.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154625.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=56.52 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154625.33,3648.8552,N,-12158.5700,W,1,03,00.5,054.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154626.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154626.33,3648.8550,N,-12158.5709,W,1,03,00.5,054.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154627.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=56.46 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 393.003077 : TerrainNav update at dvl time = 393.003077 : _navData-> (x,y) = (4074755.51, 591317.00) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074755.51 : Estimated East Bias at time = 0.00 : -591317.00 : Estimated Depth Bias at time = 0.00 : -52.12 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154627.33,3648.8548,N,-12158.5718,W,1,03,00.5,054.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154628.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=56.70 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154628.33,3648.8546,N,-12158.5727,W,1,03,00.5,054.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154629.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154629.33,3648.8543,N,-12158.5737,W,1,03,00.5,054.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154630.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=56.49 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 396.002872 : TerrainNav update at dvl time = 396.002872 : _navData-> (x,y) = (4074754.26, 591312.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074754.26 : Estimated East Bias at time = 0.00 : -591312.88 : Estimated Depth Bias at time = 0.00 : -52.65 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154630.33,3648.8541,N,-12158.5746,W,1,03,00.5,053.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154631.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=56.62 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154631.33,3648.8539,N,-12158.5756,W,1,03,00.5,053.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154632.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.85 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154632.33,3648.8537,N,-12158.5765,W,1,03,00.5,052.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154633.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 399.002666 : TerrainNav update at dvl time = 399.002666 : _navData-> (x,y) = (4074753.12, 591308.69) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074753.12 : Estimated East Bias at time = 0.00 : -591308.69 : Estimated Depth Bias at time = 0.00 : -53.35 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154633.33,3648.8536,N,-12158.5774,W,1,03,00.5,052.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154634.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.78 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154634.33,3648.8534,N,-12158.5784,W,1,03,00.5,052.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154635.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=56.77 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154635.33,3648.8532,N,-12158.5793,W,1,03,00.5,052.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154636.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 402.002461 : TerrainNav update at dvl time = 402.002461 : _navData-> (x,y) = (4074752.19, 591304.57) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074752.19 : Estimated East Bias at time = 0.00 : -591304.57 : Estimated Depth Bias at time = 0.00 : -54.42 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154636.33,3648.8531,N,-12158.5802,W,1,03,00.5,052.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154637.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=57.52 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154637.33,3648.8530,N,-12158.5811,W,1,03,00.5,052.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154638.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=58.50 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154638.33,3648.8528,N,-12158.5820,W,1,03,00.5,053.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154639.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 405.002255 : TerrainNav update at dvl time = 405.002255 : _navData-> (x,y) = (4074751.39, 591300.52) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074751.39 : Estimated East Bias at time = 0.00 : -591300.52 : Estimated Depth Bias at time = 0.00 : -55.85 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=59.78 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154639.33,3648.8527,N,-12158.5829,W,1,03,00.5,053.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154640.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154640.33,3648.8525,N,-12158.5838,W,1,03,00.5,054.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154641.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=60.76 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154641.33,3648.8524,N,-12158.5848,W,1,03,00.5,054.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154642.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 408.002050 : TerrainNav update at dvl time = 408.002050 : _navData-> (x,y) = (4074750.60, 591296.46) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074750.60 : Estimated East Bias at time = 0.00 : -591296.46 : Estimated Depth Bias at time = 0.00 : -56.79 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=61.96 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154642.33,3648.8523,N,-12158.5857,W,1,03,00.5,055.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154643.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154643.33,3648.8522,N,-12158.5866,W,1,03,00.5,055.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154644.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=61.97 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154644.33,3648.8520,N,-12158.5876,W,1,03,00.5,055.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154645.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=61.50 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 411.001844 : TerrainNav update at dvl time = 411.001844 : _navData-> (x,y) = (4074749.88, 591292.17) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074749.88 : Estimated East Bias at time = 0.00 : -591292.17 : Estimated Depth Bias at time = 0.00 : -57.58 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154645.33,3648.8519,N,-12158.5886,W,1,03,00.5,053.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154646.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=61.76 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154646.33,3648.8518,N,-12158.5896,W,1,03,00.5,053.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154647.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154647.33,3648.8517,N,-12158.5906,W,1,03,00.5,053.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154648.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=62.14 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 414.001639 : TerrainNav update at dvl time = 414.001639 : _navData-> (x,y) = (4074749.29, 591287.63) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074749.29 : Estimated East Bias at time = 0.00 : -591287.63 : Estimated Depth Bias at time = 0.00 : -58.45 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154648.33,3648.8516,N,-12158.5916,W,1,03,00.5,053.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154649.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=63.27 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154649.33,3648.8515,N,-12158.5926,W,1,03,00.5,054.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154650.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154650.33,3648.8515,N,-12158.5935,W,1,03,00.5,054.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154651.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=63.57 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 417.001433 : TerrainNav update at dvl time = 417.001433 : _navData-> (x,y) = (4074748.72, 591283.45) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074748.72 : Estimated East Bias at time = 0.00 : -591283.45 : Estimated Depth Bias at time = 0.00 : -59.81 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154651.33,3648.8514,N,-12158.5944,W,1,03,00.5,054.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154652.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=63.81 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154652.33,3648.8512,N,-12158.5953,W,1,03,00.5,053.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154653.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=65.35 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154653.33,3648.8511,N,-12158.5962,W,1,03,00.5,054.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154654.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 420.001228 : TerrainNav update at dvl time = 420.001228 : _navData-> (x,y) = (4074748.13, 591279.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074748.13 : Estimated East Bias at time = 0.00 : -591279.56 : Estimated Depth Bias at time = 0.00 : -61.01 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154654.33,3648.8511,N,-12158.5971,W,1,03,00.5,055.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154655.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=66.32 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154655.33,3648.8510,N,-12158.5980,W,1,03,00.5,055.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154656.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=66.98 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154656.33,3648.8509,N,-12158.5990,W,1,03,00.5,055.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154657.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 423.001022 : TerrainNav update at dvl time = 423.001022 : _navData-> (x,y) = (4074747.62, 591275.32) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074747.62 : Estimated East Bias at time = 0.00 : -591275.32 : Estimated Depth Bias at time = 0.00 : -62.17 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154657.33,3648.8508,N,-12158.5999,W,1,03,00.5,055.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154658.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=67.58 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154658.33,3648.8507,N,-12158.6010,W,1,03,00.5,056.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154659.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=69.02 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154659.33,3648.8507,N,-12158.6020,W,1,03,00.5,055.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154700.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 426.000817 : TerrainNav update at dvl time = 426.000817 : _navData-> (x,y) = (4074747.21, 591270.80) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074747.21 : Estimated East Bias at time = 0.00 : -591270.80 : Estimated Depth Bias at time = 0.00 : -63.40 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=70.79 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154700.33,3648.8506,N,-12158.6030,W,1,03,00.5,057.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154701.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154701.33,3648.8505,N,-12158.6040,W,1,03,00.5,056.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154702.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=69.93 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154702.33,3648.8505,N,-12158.6049,W,1,03,00.5,056.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154703.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 429.000611 : TerrainNav update at dvl time = 429.000611 : _navData-> (x,y) = (4074746.75, 591266.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074746.75 : Estimated East Bias at time = 0.00 : -591266.56 : Estimated Depth Bias at time = 0.00 : -64.51 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=70.93 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154703.33,3648.8504,N,-12158.6058,W,1,03,00.5,056.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154704.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154704.33,3648.8503,N,-12158.6067,W,1,03,00.5,056.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154705.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=72.24 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154705.33,3648.8502,N,-12158.6076,W,1,03,00.5,056.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154706.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=72.71 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 432.000406 : TerrainNav update at dvl time = 432.000406 : _navData-> (x,y) = (4074746.26, 591262.54) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074746.26 : Estimated East Bias at time = 0.00 : -591262.54 : Estimated Depth Bias at time = 0.00 : -65.93 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154706.33,3648.8501,N,-12158.6085,W,1,03,00.5,056.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154707.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=73.06 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154707.33,3648.8501,N,-12158.6094,W,1,03,00.5,056.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154708.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154708.33,3648.8500,N,-12158.6104,W,1,03,00.5,054.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154709.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=72.62 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 435.000200 : TerrainNav update at dvl time = 435.000200 : _navData-> (x,y) = (4074745.80, 591258.39) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074745.80 : Estimated East Bias at time = 0.00 : -591258.39 : Estimated Depth Bias at time = 0.00 : -67.16 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154709.33,3648.8499,N,-12158.6113,W,1,03,00.5,055.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154710.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=73.63 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154710.33,3648.8499,N,-12158.6123,W,1,03,00.5,055.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154711.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154711.33,3648.8498,N,-12158.6132,W,1,03,00.5,055.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154712.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=74.26 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 437.999995 : TerrainNav update at dvl time = 437.999995 : _navData-> (x,y) = (4074745.33, 591254.12) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074745.33 : Estimated East Bias at time = 0.00 : -591254.12 : Estimated Depth Bias at time = 0.00 : -68.64 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154712.33,3648.8497,N,-12158.6142,W,1,03,00.5,056.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154713.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.21 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154713.33,3648.8496,N,-12158.6152,W,1,03,00.5,056.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154714.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=76.83 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154714.33,3648.8495,N,-12158.6161,W,1,03,00.5,057.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154715.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 440.999789 : TerrainNav update at dvl time = 440.999789 : _navData-> (x,y) = (4074744.83, 591249.89) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074744.83 : Estimated East Bias at time = 0.00 : -591249.89 : Estimated Depth Bias at time = 0.00 : -70.12 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154715.33,3648.8495,N,-12158.6170,W,1,03,00.5,056.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154716.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=77.42 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154716.33,3648.8494,N,-12158.6180,W,1,03,00.5,056.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154717.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=78.53 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154717.33,3648.8493,N,-12158.6189,W,1,03,00.5,057.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154718.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 443.999584 : TerrainNav update at dvl time = 443.999584 : _navData-> (x,y) = (4074744.40, 591245.73) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074744.40 : Estimated East Bias at time = 0.00 : -591245.73 : Estimated Depth Bias at time = 0.00 : -71.41 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154718.33,3648.8492,N,-12158.6198,W,1,03,00.5,058.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154719.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.30 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154719.33,3648.8492,N,-12158.6208,W,1,03,00.5,058.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154720.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.43 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154720.33,3648.8491,N,-12158.6217,W,1,03,00.5,058.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154721.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 446.999378 : TerrainNav update at dvl time = 446.999378 : _navData-> (x,y) = (4074744.01, 591241.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074744.01 : Estimated East Bias at time = 0.00 : -591241.56 : Estimated Depth Bias at time = 0.00 : -72.91 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=81.19 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154721.33,3648.8491,N,-12158.6227,W,1,03,00.5,058.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154722.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154722.33,3648.8490,N,-12158.6236,W,1,03,00.5,059.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154723.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=81.66 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154723.33,3648.8489,N,-12158.6246,W,1,03,00.5,058.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154724.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 449.999173 : TerrainNav update at dvl time = 449.999173 : _navData-> (x,y) = (4074743.61, 591237.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=81.22 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : Estimated North Bias at time = 0.00 : -4074743.61 : Estimated East Bias at time = 0.00 : -591237.28 : Estimated Depth Bias at time = 0.00 : -74.20 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154724.33,3648.8489,N,-12158.6255,W,1,03,00.5,056.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154725.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154725.33,3648.8488,N,-12158.6265,W,1,03,00.5,058.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154726.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=83.24 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154726.33,3648.8487,N,-12158.6275,W,1,03,00.5,056.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154727.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=82.46 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 452.998967 : TerrainNav update at dvl time = 452.998967 : _navData-> (x,y) = (4074743.17, 591232.96) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074743.17 : Estimated East Bias at time = 0.00 : -591232.96 : Estimated Depth Bias at time = 0.00 : -75.64 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154727.33,3648.8487,N,-12158.6285,W,1,03,00.5,057.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154728.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=83.72 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154728.33,3648.8486,N,-12158.6294,W,1,03,00.5,057.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154729.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154729.33,3648.8485,N,-12158.6304,W,1,03,00.5,057.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154730.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=84.23 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 455.998762 : TerrainNav update at dvl time = 455.998762 : _navData-> (x,y) = (4074742.71, 591228.72) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074742.71 : Estimated East Bias at time = 0.00 : -591228.72 : Estimated Depth Bias at time = 0.00 : -77.16 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154730.33,3648.8484,N,-12158.6313,W,1,03,00.5,057.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154731.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=85.54 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154731.33,3648.8483,N,-12158.6322,W,1,03,00.5,057.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154732.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154732.33,3648.8483,N,-12158.6332,W,1,03,00.5,058.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154733.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=86.77 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 458.998556 : TerrainNav update at dvl time = 458.998556 : _navData-> (x,y) = (4074742.22, 591224.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074742.22 : Estimated East Bias at time = 0.00 : -591224.56 : Estimated Depth Bias at time = 0.00 : -78.58 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154733.33,3648.8482,N,-12158.6341,W,1,03,00.5,057.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154734.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=87.76 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154734.33,3648.8481,N,-12158.6350,W,1,03,00.5,058.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154735.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.24 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154735.33,3648.8480,N,-12158.6360,W,1,03,00.5,059.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154736.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 461.998351 : TerrainNav update at dvl time = 461.998351 : _navData-> (x,y) = (4074741.68, 591220.40) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074741.68 : Estimated East Bias at time = 0.00 : -591220.40 : Estimated Depth Bias at time = 0.00 : -80.25 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154736.33,3648.8479,N,-12158.6369,W,1,03,00.5,058.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154737.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.98 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154737.33,3648.8478,N,-12158.6379,W,1,03,00.5,059.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154738.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.69 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154738.33,3648.8477,N,-12158.6388,W,1,03,00.5,059.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154739.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 464.998145 : TerrainNav update at dvl time = 464.998145 : _navData-> (x,y) = (4074741.18, 591216.14) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074741.18 : Estimated East Bias at time = 0.00 : -591216.14 : Estimated Depth Bias at time = 0.00 : -81.67 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154739.33,3648.8477,N,-12158.6398,W,1,03,00.5,058.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154740.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.12 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154740.33,3648.8476,N,-12158.6408,W,1,03,00.5,059.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154741.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.66 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154741.33,3648.8475,N,-12158.6417,W,1,03,00.5,058.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154742.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 467.997940 : TerrainNav update at dvl time = 467.997940 : _navData-> (x,y) = (4074740.73, 591211.86) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074740.73 : Estimated East Bias at time = 0.00 : -591211.86 : Estimated Depth Bias at time = 0.00 : -83.13 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=91.60 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154742.33,3648.8475,N,-12158.6427,W,1,03,00.5,058.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154743.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154743.33,3648.8474,N,-12158.6436,W,1,03,00.5,058.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154744.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=92.41 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154744.33,3648.8473,N,-12158.6445,W,1,03,00.5,059.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154745.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 470.997734 : TerrainNav update at dvl time = 470.997734 : _navData-> (x,y) = (4074740.24, 591207.71) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074740.24 : Estimated East Bias at time = 0.00 : -591207.71 : Estimated Depth Bias at time = 0.00 : -84.59 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=92.53 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154745.33,3648.8472,N,-12158.6454,W,1,03,00.5,057.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154746.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154746.33,3648.8471,N,-12158.6464,W,1,03,00.5,058.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154747.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=93.66 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154747.33,3648.8470,N,-12158.6473,W,1,03,00.5,059.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154748.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=95.56 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 473.997529 : TerrainNav update at dvl time = 473.997529 : _navData-> (x,y) = (4074739.70, 591203.56) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074739.70 : Estimated East Bias at time = 0.00 : -591203.56 : Estimated Depth Bias at time = 0.00 : -85.98 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154748.33,3648.8469,N,-12158.6482,W,1,03,00.5,060.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154749.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=95.83 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154749.33,3648.8468,N,-12158.6492,W,1,03,00.5,059.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154750.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154750.33,3648.8468,N,-12158.6502,W,1,03,00.5,059.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154751.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=97.15 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 476.997323 : TerrainNav update at dvl time = 476.997323 : _navData-> (x,y) = (4074739.16, 591199.31) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074739.16 : Estimated East Bias at time = 0.00 : -591199.31 : Estimated Depth Bias at time = 0.00 : -87.68 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154751.33,3648.8467,N,-12158.6511,W,1,03,00.5,060.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154752.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=98.29 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154752.33,3648.8466,N,-12158.6521,W,1,03,00.5,059.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154753.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154753.33,3648.8465,N,-12158.6530,W,1,03,00.5,060.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154754.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=98.95 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 479.997118 : TerrainNav update at dvl time = 479.997118 : _navData-> (x,y) = (4074738.62, 591195.10) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074738.62 : Estimated East Bias at time = 0.00 : -591195.10 : Estimated Depth Bias at time = 0.00 : -89.22 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154754.33,3648.8464,N,-12158.6539,W,1,03,00.5,060.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154755.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.00 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154755.33,3648.8463,N,-12158.6549,W,1,03,00.5,060.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154756.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.80 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154756.33,3648.8462,N,-12158.6558,W,1,03,00.5,060.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154757.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 482.996912 : TerrainNav update at dvl time = 482.996912 : _navData-> (x,y) = (4074738.02, 591190.97) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074738.02 : Estimated East Bias at time = 0.00 : -591190.97 : Estimated Depth Bias at time = 0.00 : -90.68 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154757.33,3648.8461,N,-12158.6567,W,1,03,00.5,060.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154758.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=101.16 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154758.33,3648.8460,N,-12158.6577,W,1,03,00.5,060.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154759.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=101.31 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154759.33,3648.8459,N,-12158.6586,W,1,03,00.5,059.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154800.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 485.996707 : TerrainNav update at dvl time = 485.996707 : _navData-> (x,y) = (4074737.37, 591186.79) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074737.37 : Estimated East Bias at time = 0.00 : -591186.79 : Estimated Depth Bias at time = 0.00 : -92.06 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154800.33,3648.8458,N,-12158.6596,W,1,03,00.5,059.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154801.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=101.95 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154801.33,3648.8457,N,-12158.6605,W,1,03,00.5,059.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154802.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=103.19 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154802.33,3648.8456,N,-12158.6615,W,1,03,00.5,060.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154803.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 488.996501 : TerrainNav update at dvl time = 488.996501 : _navData-> (x,y) = (4074736.73, 591182.49) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074736.73 : Estimated East Bias at time = 0.00 : -591182.49 : Estimated Depth Bias at time = 0.00 : -93.48 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=103.79 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154803.33,3648.8454,N,-12158.6625,W,1,03,00.5,059.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154804.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154804.33,3648.8453,N,-12158.6634,W,1,03,00.5,059.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154805.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=104.58 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154805.33,3648.8452,N,-12158.6644,W,1,03,00.5,060.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154806.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 491.996296 : TerrainNav update at dvl time = 491.996296 : _navData-> (x,y) = (4074736.06, 591178.21) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074736.06 : Estimated East Bias at time = 0.00 : -591178.21 : Estimated Depth Bias at time = 0.00 : -95.21 : Estimated northing and easting = 0.00 : 0.00 : LayeredControl _resolvedCommand - vertMode=2 vert=105.35 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154806.33,3648.8451,N,-12158.6653,W,1,03,00.5,060.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154807.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154807.33,3648.8450,N,-12158.6662,W,1,03,00.5,060.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154808.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=106.07 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154808.33,3648.8449,N,-12158.6672,W,1,03,00.5,060.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154809.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=106.75 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 494.996090 : TerrainNav update at dvl time = 494.996090 : _navData-> (x,y) = (4074735.32, 591174.09) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074735.32 : Estimated East Bias at time = 0.00 : -591174.09 : Estimated Depth Bias at time = 0.00 : -96.72 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154809.33,3648.8447,N,-12158.6681,W,1,03,00.5,059.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154810.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=107.24 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154810.33,3648.8446,N,-12158.6690,W,1,03,00.5,059.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154811.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154811.33,3648.8445,N,-12158.6700,W,1,03,00.5,059.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154812.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=107.88 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 497.995885 : TerrainNav update at dvl time = 497.995885 : _navData-> (x,y) = (4074734.55, 591169.92) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074734.55 : Estimated East Bias at time = 0.00 : -591169.92 : Estimated Depth Bias at time = 0.00 : -98.22 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154812.33,3648.8443,N,-12158.6709,W,1,03,00.5,059.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154813.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=109.00 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154813.33,3648.8442,N,-12158.6719,W,1,03,00.5,060.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154814.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154814.33,3648.8441,N,-12158.6728,W,1,03,00.5,060.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154815.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=109.64 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 500.995679 : TerrainNav update at dvl time = 500.995679 : _navData-> (x,y) = (4074733.77, 591165.64) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074733.77 : Estimated East Bias at time = 0.00 : -591165.64 : Estimated Depth Bias at time = 0.00 : -99.61 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154815.33,3648.8439,N,-12158.6738,W,1,03,00.5,060.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154816.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=110.24 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154816.33,3648.8438,N,-12158.6748,W,1,03,00.5,060.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154817.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=111.00 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154817.33,3648.8437,N,-12158.6757,W,1,03,00.5,060.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154818.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 503.995474 : TerrainNav update at dvl time = 503.995474 : _navData-> (x,y) = (4074733.05, 591161.37) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074733.05 : Estimated East Bias at time = 0.00 : -591161.37 : Estimated Depth Bias at time = 0.00 : -101.00 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154818.33,3648.8436,N,-12158.6767,W,1,03,00.5,060.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154819.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=111.90 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154819.33,3648.8435,N,-12158.6776,W,1,03,00.5,060.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154820.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=113.12 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154820.33,3648.8433,N,-12158.6786,W,1,03,00.5,060.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154821.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 506.995268 : TerrainNav update at dvl time = 506.995268 : _navData-> (x,y) = (4074732.39, 591157.17) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 0.00 : -4074732.39 : Estimated East Bias at time = 0.00 : -591157.17 : Estimated Depth Bias at time = 0.00 : -102.74 : Estimated northing and easting = 0.00 : 0.00 : NMEA Update: $GPGGA,154821.33,3648.8432,N,-12158.6795,W,1,03,00.5,060.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154822.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=114.08 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154822.33,3648.8432,N,-12158.6805,W,1,03,00.5,060.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154823.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=113.82 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154823.33,3648.8431,N,-12158.6814,W,1,03,00.5,060.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154824.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 509.995063 : TerrainNav update at dvl time = 509.995063 : _navData-> (x,y) = (4074731.83, 591152.92) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=115.05 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154824.33,3648.8430,N,-12158.6824,W,1,03,00.5,060.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154825.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154825.33,3648.8429,N,-12158.6833,W,1,03,00.5,060.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154826.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=115.05 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154826.33,3648.8428,N,-12158.6843,W,1,03,00.5,059.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154827.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 510.00 : -46.20 : Estimated East Bias at time = 510.00 : -46.74 : Estimated Depth Bias at time = 510.00 : -1.74 : Estimated northing and easting = 4074685.63 : 591106.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=115.48 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154827.33,3648.8427,N,-12158.6852,W,1,03,00.5,059.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154828.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154828.34,3648.8426,N,-12158.6862,W,1,03,00.5,059.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154829.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=116.16 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154829.34,3648.8425,N,-12158.6871,W,1,03,00.5,059.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154830.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=116.91 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 515.994652 : TerrainNav update at dvl time = 515.994652 : _navData-> (x,y) = (4074730.78, 591144.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154830.34,3648.8425,N,-12158.6881,W,1,03,00.5,059.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154831.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=117.94 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154831.34,3648.8424,N,-12158.6890,W,1,03,00.5,060.0,M,-99.9,M,,*41 : Estimated North Bias at time = 515.99 : -48.25 : Estimated East Bias at time = 515.99 : -47.62 : Estimated Depth Bias at time = 515.99 : -1.57 : Estimated northing and easting = 4074682.53 : 591096.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,154832.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154832.34,3648.8423,N,-12158.6900,W,1,03,00.5,059.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154833.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=118.44 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 518.994446 : TerrainNav update at dvl time = 518.994446 : _navData-> (x,y) = (4074730.27, 591140.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154833.34,3648.8422,N,-12158.6909,W,1,03,00.5,060.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154834.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=118.99 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154834.34,3648.8421,N,-12158.6918,W,1,03,00.5,059.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154835.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 518.99 : -49.31 : Estimated East Bias at time = 518.99 : -48.04 : Estimated Depth Bias at time = 518.99 : -1.46 : Estimated northing and easting = 4074680.96 : 591092.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154835.34,3648.8420,N,-12158.6928,W,1,03,00.5,059.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154836.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=119.69 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 521.994241 : TerrainNav update at dvl time = 521.994241 : _navData-> (x,y) = (4074729.77, 591136.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154836.34,3648.8420,N,-12158.6937,W,1,03,00.5,059.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154837.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=120.55 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154837.34,3648.8419,N,-12158.6947,W,1,03,00.5,060.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154838.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 521.99 : -49.99 : Estimated East Bias at time = 521.99 : -48.21 : Estimated Depth Bias at time = 521.99 : -1.41 : Estimated northing and easting = 4074679.77 : 591087.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=120.52 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154838.34,3648.8418,N,-12158.6957,W,1,03,00.5,059.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154839.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 524.994035 : TerrainNav update at dvl time = 524.994035 : _navData-> (x,y) = (4074729.33, 591131.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154839.34,3648.8418,N,-12158.6966,W,1,03,00.5,059.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154840.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=121.03 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154840.34,3648.8417,N,-12158.6976,W,1,03,00.5,058.8,M,-99.9,M,,*4d : Estimated North Bias at time = 524.99 : -50.69 : Estimated East Bias at time = 524.99 : -48.23 : Estimated Depth Bias at time = 524.99 : -1.38 : Estimated northing and easting = 4074678.64 : 591083.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,154841.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=121.40 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154841.34,3648.8416,N,-12158.6985,W,1,03,00.5,058.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154842.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 527.993830 : TerrainNav update at dvl time = 527.993830 : _navData-> (x,y) = (4074728.83, 591127.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154842.34,3648.8415,N,-12158.6995,W,1,03,00.5,059.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154843.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=122.65 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154843.34,3648.8414,N,-12158.7004,W,1,03,00.5,058.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154844.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 527.99 : -51.24 : Estimated East Bias at time = 527.99 : -48.24 : Estimated Depth Bias at time = 527.99 : -1.37 : Estimated northing and easting = 4074677.59 : 591079.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=122.79 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154844.34,3648.8413,N,-12158.7013,W,1,03,00.5,058.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154845.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 530.993624 : TerrainNav update at dvl time = 530.993624 : _navData-> (x,y) = (4074728.29, 591123.39) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=123.77 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154845.34,3648.8412,N,-12158.7022,W,1,03,00.5,058.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154846.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154846.33,3648.8411,N,-12158.7032,W,1,03,00.5,058.8,M,-99.9,M,,*42 : Estimated North Bias at time = 530.99 : -51.90 : Estimated East Bias at time = 530.99 : -48.28 : Estimated Depth Bias at time = 530.99 : -1.36 : Estimated northing and easting = 4074676.40 : 591075.11 : AshtechGps::processRecord() - $GPGGA,154847.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=124.44 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154847.33,3648.8411,N,-12158.7041,W,1,03,00.5,058.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154848.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 533.993419 : TerrainNav update at dvl time = 533.993419 : _navData-> (x,y) = (4074727.78, 591119.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=125.06 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154848.33,3648.8410,N,-12158.7050,W,1,03,00.5,058.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154849.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154849.33,3648.8409,N,-12158.7059,W,1,03,00.5,058.7,M,-99.9,M,,*46 : Estimated North Bias at time = 533.99 : -52.51 : Estimated East Bias at time = 533.99 : -48.21 : Estimated Depth Bias at time = 533.99 : -1.35 : Estimated northing and easting = 4074675.27 : 591071.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,154850.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=125.80 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154850.33,3648.8408,N,-12158.7069,W,1,03,00.5,058.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154851.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=126.47 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 536.993213 : TerrainNav update at dvl time = 536.993213 : _navData-> (x,y) = (4074727.30, 591115.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154851.33,3648.8407,N,-12158.7078,W,1,03,00.5,058.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154852.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=126.73 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154852.33,3648.8407,N,-12158.7088,W,1,03,00.5,058.1,M,-99.9,M,,*48 : Estimated North Bias at time = 536.99 : -53.10 : Estimated East Bias at time = 536.99 : -48.16 : Estimated Depth Bias at time = 536.99 : -1.35 : Estimated northing and easting = 4074674.20 : 591066.96 : AshtechGps::processRecord() - $GPGGA,154853.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154853.33,3648.8406,N,-12158.7097,W,1,03,00.5,058.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154854.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=127.96 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 540.003007 : TerrainNav update at dvl time = 540.003007 : _navData-> (x,y) = (4074726.77, 591110.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154854.33,3648.8405,N,-12158.7106,W,1,03,00.5,057.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154855.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=127.70 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154855.33,3648.8404,N,-12158.7116,W,1,03,00.5,057.7,M,-99.9,M,,*43 : Estimated North Bias at time = 540.00 : -53.74 : Estimated East Bias at time = 540.00 : -48.11 : Estimated Depth Bias at time = 540.00 : -1.35 : Estimated northing and easting = 4074673.03 : 591062.84 : AshtechGps::processRecord() - $GPGGA,154856.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154856.33,3648.8403,N,-12158.7125,W,1,03,00.5,058.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154857.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=128.90 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 543.002802 : TerrainNav update at dvl time = 543.002802 : _navData-> (x,y) = (4074726.19, 591106.80) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154857.33,3648.8402,N,-12158.7134,W,1,03,00.5,057.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154858.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.02 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154858.33,3648.8401,N,-12158.7143,W,1,03,00.5,058.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154859.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 543.00 : -54.43 : Estimated East Bias at time = 543.00 : -48.01 : Estimated Depth Bias at time = 543.00 : -1.35 : Estimated northing and easting = 4074671.76 : 591058.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.54 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154859.33,3648.8400,N,-12158.7153,W,1,03,00.5,058.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154900.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 546.002596 : TerrainNav update at dvl time = 546.002596 : _navData-> (x,y) = (4074725.62, 591102.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154900.33,3648.8399,N,-12158.7162,W,1,03,00.5,057.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154901.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.28 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154901.33,3648.8398,N,-12158.7171,W,1,03,00.5,057.8,M,-99.9,M,,*4f : Estimated North Bias at time = 546.00 : -55.23 : Estimated East Bias at time = 546.00 : -47.85 : Estimated Depth Bias at time = 546.00 : -1.35 : Estimated northing and easting = 4074670.39 : 591054.83 : AshtechGps::processRecord() - $GPGGA,154902.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=131.90 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154902.33,3648.8398,N,-12158.7181,W,1,03,00.5,057.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154903.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 549.002391 : TerrainNav update at dvl time = 549.002391 : _navData-> (x,y) = (4074725.16, 591098.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154903.33,3648.8397,N,-12158.7190,W,1,03,00.5,057.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154904.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=131.81 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154904.33,3648.8396,N,-12158.7199,W,1,03,00.5,057.0,M,-99.9,M,,*4a : Estimated North Bias at time = 549.00 : -56.24 : Estimated East Bias at time = 549.00 : -47.54 : Estimated Depth Bias at time = 549.00 : -1.35 : Estimated northing and easting = 4074668.92 : 591050.98 : AshtechGps::processRecord() - $GPGGA,154905.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=132.19 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154905.33,3648.8395,N,-12158.7209,W,1,03,00.5,056.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154906.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 552.002185 : TerrainNav update at dvl time = 552.002185 : _navData-> (x,y) = (4074724.67, 591094.37) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=132.53 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154906.33,3648.8394,N,-12158.7218,W,1,03,00.5,056.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154907.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154907.33,3648.8394,N,-12158.7227,W,1,03,00.5,056.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154908.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 552.00 : -57.25 : Estimated East Bias at time = 552.00 : -47.25 : Estimated Depth Bias at time = 552.00 : -1.35 : Estimated northing and easting = 4074667.42 : 591047.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=133.24 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154908.33,3648.8393,N,-12158.7237,W,1,03,00.5,056.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154909.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 555.001980 : TerrainNav update at dvl time = 555.001980 : _navData-> (x,y) = (4074724.15, 591090.21) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=133.62 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154909.33,3648.8392,N,-12158.7246,W,1,03,00.5,056.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154910.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154910.33,3648.8391,N,-12158.7255,W,1,03,00.5,057.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154911.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 555.00 : -58.33 : Estimated East Bias at time = 555.00 : -46.92 : Estimated Depth Bias at time = 555.00 : -1.35 : Estimated northing and easting = 4074665.82 : 591043.29 : LayeredControl _resolvedCommand - vertMode=2 vert=133.81 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154911.33,3648.8390,N,-12158.7265,W,1,03,00.5,056.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154912.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.99 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 558.001774 : TerrainNav update at dvl time = 558.001774 : _navData-> (x,y) = (4074723.59, 591086.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154912.33,3648.8389,N,-12158.7274,W,1,03,00.5,056.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154913.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=135.03 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154913.33,3648.8388,N,-12158.7283,W,1,03,00.5,056.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,154914.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 558.00 : -59.43 : Estimated East Bias at time = 558.00 : -46.56 : Estimated Depth Bias at time = 558.00 : -1.34 : Estimated northing and easting = 4074664.16 : 591039.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154914.33,3648.8387,N,-12158.7292,W,1,03,00.5,055.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154915.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=135.46 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 561.001569 : TerrainNav update at dvl time = 561.001569 : _navData-> (x,y) = (4074723.05, 591081.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154915.33,3648.8386,N,-12158.7302,W,1,03,00.5,055.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154916.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=135.96 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154916.33,3648.8386,N,-12158.7311,W,1,03,00.5,055.6,M,-99.9,M,,*4e : Estimated North Bias at time = 561.00 : -60.67 : Estimated East Bias at time = 561.00 : -46.14 : Estimated Depth Bias at time = 561.00 : -1.34 : Estimated northing and easting = 4074662.38 : 591035.79 : AshtechGps::processRecord() - $GPGGA,154917.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154917.33,3648.8385,N,-12158.7320,W,1,03,00.5,055.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,154918.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=136.20 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 564.001363 : TerrainNav update at dvl time = 564.001363 : _navData-> (x,y) = (4074722.56, 591077.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154918.33,3648.8384,N,-12158.7330,W,1,03,00.5,054.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154919.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.16 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154919.33,3648.8383,N,-12158.7339,W,1,03,00.5,055.4,M,-99.9,M,,*4c : Estimated North Bias at time = 564.00 : -61.95 : Estimated East Bias at time = 564.00 : -45.64 : Estimated Depth Bias at time = 564.00 : -1.34 : Estimated northing and easting = 4074660.60 : 591032.15 : AshtechGps::processRecord() - $GPGGA,154920.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=137.94 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154920.33,3648.8382,N,-12158.7348,W,1,03,00.5,055.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154921.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 567.001158 : TerrainNav update at dvl time = 567.001158 : _navData-> (x,y) = (4074722.06, 591073.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154921.33,3648.8382,N,-12158.7358,W,1,03,00.5,055.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154922.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=138.08 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154922.33,3648.8381,N,-12158.7367,W,1,03,00.5,054.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154923.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 567.00 : -63.27 : Estimated East Bias at time = 567.00 : -45.19 : Estimated Depth Bias at time = 567.00 : -1.34 : Estimated northing and easting = 4074658.79 : 591028.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=138.58 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154923.33,3648.8380,N,-12158.7376,W,1,03,00.5,054.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,154924.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 570.000952 : TerrainNav update at dvl time = 570.000952 : _navData-> (x,y) = (4074721.51, 591069.50) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154924.33,3648.8379,N,-12158.7385,W,1,03,00.5,055.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154925.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=139.53 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154925.33,3648.8378,N,-12158.7395,W,1,03,00.5,054.9,M,-99.9,M,,*4d : Estimated North Bias at time = 570.00 : -64.62 : AshtechGps::processRecord() - $GPGGA,154926.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 570.00 : -44.75 : Estimated Depth Bias at time = 570.00 : -1.34 : Estimated northing and easting = 4074656.89 : 591024.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=139.95 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154926.33,3648.8377,N,-12158.7404,W,1,03,00.5,055.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154927.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 573.000747 : TerrainNav update at dvl time = 573.000747 : _navData-> (x,y) = (4074720.95, 591065.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=140.56 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154927.33,3648.8376,N,-12158.7413,W,1,03,00.5,054.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154928.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154928.33,3648.8375,N,-12158.7423,W,1,03,00.5,055.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154929.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 573.00 : -66.01 : Estimated East Bias at time = 573.00 : -44.17 : Estimated Depth Bias at time = 573.00 : -1.34 : Estimated northing and easting = 4074654.94 : 591021.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=141.69 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154929.33,3648.8374,N,-12158.7432,W,1,03,00.5,054.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154930.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 576.000541 : TerrainNav update at dvl time = 576.000541 : _navData-> (x,y) = (4074720.45, 591061.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=141.90 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154930.33,3648.8374,N,-12158.7442,W,1,03,00.5,054.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154931.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154931.33,3648.8373,N,-12158.7452,W,1,03,00.5,054.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154932.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 576.00 : -67.55 : Estimated East Bias at time = 576.00 : -43.58 : Estimated Depth Bias at time = 576.00 : -1.34 : Estimated northing and easting = 4074652.90 : 591017.53 : LayeredControl _resolvedCommand - vertMode=2 vert=142.15 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154932.33,3648.8372,N,-12158.7461,W,1,03,00.5,054.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154933.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=143.64 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 579.000336 : TerrainNav update at dvl time = 579.000336 : _navData-> (x,y) = (4074719.93, 591056.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154933.33,3648.8371,N,-12158.7471,W,1,03,00.5,054.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154934.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.34 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154934.33,3648.8370,N,-12158.7480,W,1,03,00.5,055.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,154935.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 579.00 : -69.19 : Estimated East Bias at time = 579.00 : -43.01 : Estimated Depth Bias at time = 579.00 : -1.34 : Estimated northing and easting = 4074650.74 : 591013.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154935.33,3648.8369,N,-12158.7490,W,1,03,00.5,055.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154936.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.49 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 582.000130 : TerrainNav update at dvl time = 582.000130 : _navData-> (x,y) = (4074719.35, 591052.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154936.33,3648.8368,N,-12158.7499,W,1,03,00.5,055.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154937.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=145.23 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154937.33,3648.8367,N,-12158.7509,W,1,03,00.5,054.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,154938.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 582.00 : -70.93 : Estimated East Bias at time = 582.00 : -42.28 : Estimated Depth Bias at time = 582.00 : -1.34 : Estimated northing and easting = 4074648.43 : 591010.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154938.33,3648.8366,N,-12158.7518,W,1,03,00.5,055.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154939.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=145.98 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 584.999925 : TerrainNav update at dvl time = 584.999925 : _navData-> (x,y) = (4074718.74, 591048.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154939.33,3648.8365,N,-12158.7528,W,1,03,00.5,054.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154940.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=146.21 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154940.33,3648.8364,N,-12158.7537,W,1,03,00.5,054.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,154941.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 585.00 : -72.77 : Estimated East Bias at time = 585.00 : -41.48 : Estimated Depth Bias at time = 585.00 : -1.34 : Estimated northing and easting = 4074645.97 : 591006.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=146.49 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154941.33,3648.8363,N,-12158.7547,W,1,03,00.5,054.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,154942.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 587.999719 : TerrainNav update at dvl time = 587.999719 : _navData-> (x,y) = (4074718.13, 591044.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154942.33,3648.8362,N,-12158.7557,W,1,03,00.5,054.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154943.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=147.33 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154943.33,3648.8361,N,-12158.7567,W,1,03,00.5,054.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154944.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 588.00 : -74.68 : Estimated East Bias at time = 588.00 : -40.64 : Estimated Depth Bias at time = 588.00 : -1.34 : Estimated northing and easting = 4074643.44 : 591003.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=148.15 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154944.33,3648.8360,N,-12158.7576,W,1,03,00.5,054.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,154945.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 590.999514 : TerrainNav update at dvl time = 590.999514 : _navData-> (x,y) = (4074717.52, 591039.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154945.33,3648.8359,N,-12158.7586,W,1,03,00.5,054.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154946.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.33 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154946.33,3648.8358,N,-12158.7596,W,1,03,00.5,054.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,154947.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 591.00 : -76.82 : Estimated East Bias at time = 591.00 : -39.67 : Estimated Depth Bias at time = 591.00 : -1.34 : Estimated northing and easting = 4074640.69 : 591000.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=149.08 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154947.33,3648.8357,N,-12158.7606,W,1,03,00.5,054.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,154948.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 593.999308 : TerrainNav update at dvl time = 593.999308 : _navData-> (x,y) = (4074716.86, 591035.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=149.60 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154948.33,3648.8355,N,-12158.7615,W,1,03,00.5,054.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154949.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154949.33,3648.8354,N,-12158.7625,W,1,03,00.5,054.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,154950.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 594.00 : -78.96 : Estimated East Bias at time = 594.00 : -38.76 : Estimated Depth Bias at time = 594.00 : -1.34 : Estimated northing and easting = 4074637.89 : 590996.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.43 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154950.33,3648.8353,N,-12158.7634,W,1,03,00.5,054.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154951.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 596.999103 : TerrainNav update at dvl time = 596.999103 : _navData-> (x,y) = (4074716.19, 591031.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.82 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154951.33,3648.8352,N,-12158.7644,W,1,03,00.5,054.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154952.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154952.33,3648.8351,N,-12158.7654,W,1,03,00.5,053.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,154953.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 597.00 : -80.94 : Estimated East Bias at time = 597.00 : -37.88 : Estimated Depth Bias at time = 597.00 : -1.34 : Estimated northing and easting = 4074635.24 : 590993.25 : LayeredControl _resolvedCommand - vertMode=2 vert=150.63 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154953.33,3648.8350,N,-12158.7663,W,1,03,00.5,053.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154954.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.77 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 599.998897 : TerrainNav update at dvl time = 599.998897 : _navData-> (x,y) = (4074715.54, 591026.82) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154954.33,3648.8349,N,-12158.7673,W,1,03,00.5,052.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,154955.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=152.15 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154955.33,3648.8348,N,-12158.7683,W,1,03,00.5,053.6,M,-99.9,M,,*43 : Estimated North Bias at time = 600.00 : -83.25 : Estimated East Bias at time = 600.00 : -36.63 : Estimated Depth Bias at time = 600.00 : -1.34 : Estimated northing and easting = 4074632.28 : 590990.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,154956.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,154956.33,3648.8347,N,-12158.7693,W,1,03,00.5,053.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,154957.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=152.18 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 602.998692 : TerrainNav update at dvl time = 602.998692 : _navData-> (x,y) = (4074714.91, 591022.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,154957.33,3648.8346,N,-12158.7703,W,1,03,00.5,053.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,154958.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=153.67 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,154958.33,3648.8345,N,-12158.7712,W,1,03,00.5,054.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,154959.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 603.00 : -85.35 : Estimated East Bias at time = 603.00 : -35.57 : Estimated Depth Bias at time = 603.00 : -1.34 : Estimated northing and easting = 4074629.56 : 590986.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,154959.33,3648.8344,N,-12158.7722,W,1,03,00.5,054.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155000.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=154.36 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 605.998486 : TerrainNav update at dvl time = 605.998486 : _navData-> (x,y) = (4074714.28, 591018.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155000.33,3648.8343,N,-12158.7732,W,1,03,00.5,053.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155001.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=154.48 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155001.33,3648.8341,N,-12158.7742,W,1,03,00.5,053.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155002.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 606.00 : -87.51 : Estimated East Bias at time = 606.00 : -34.46 : Estimated Depth Bias at time = 606.00 : -1.34 : Estimated northing and easting = 4074626.77 : 590983.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=154.97 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155002.33,3648.8340,N,-12158.7752,W,1,03,00.5,053.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155003.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 608.998281 : TerrainNav update at dvl time = 608.998281 : _navData-> (x,y) = (4074713.63, 591013.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155003.33,3648.8339,N,-12158.7762,W,1,03,00.5,054.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155004.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=155.55 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155004.33,3648.8338,N,-12158.7772,W,1,03,00.5,052.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155005.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 609.00 : -89.96 : Estimated East Bias at time = 609.00 : -33.30 : Estimated Depth Bias at time = 609.00 : -1.34 : Estimated northing and easting = 4074623.67 : 590980.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=154.89 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155005.33,3648.8337,N,-12158.7782,W,1,03,00.5,053.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155006.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 611.998075 : TerrainNav update at dvl time = 611.998075 : _navData-> (x,y) = (4074712.94, 591009.26) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155006.33,3648.8336,N,-12158.7791,W,1,03,00.5,052.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155007.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=155.36 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155007.33,3648.8335,N,-12158.7801,W,1,03,00.5,052.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155008.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 612.00 : -92.35 : Estimated East Bias at time = 612.00 : -31.95 : Estimated Depth Bias at time = 612.00 : -1.34 : Estimated northing and easting = 4074620.59 : 590977.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=155.46 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155008.33,3648.8333,N,-12158.7811,W,1,03,00.5,052.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155009.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 614.997870 : TerrainNav update at dvl time = 614.997870 : _navData-> (x,y) = (4074712.24, 591004.90) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=156.04 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155009.33,3648.8332,N,-12158.7821,W,1,03,00.5,052.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155010.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155010.33,3648.8331,N,-12158.7831,W,1,03,00.5,052.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155011.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 615.00 : -94.53 : Estimated East Bias at time = 615.00 : -30.81 : Estimated Depth Bias at time = 615.00 : -1.34 : Estimated northing and easting = 4074617.71 : 590974.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=156.62 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155011.33,3648.8330,N,-12158.7841,W,1,03,00.5,053.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155012.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 617.997664 : TerrainNav update at dvl time = 617.997664 : _navData-> (x,y) = (4074711.58, 591000.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=158.05 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155012.33,3648.8329,N,-12158.7851,W,1,03,00.5,053.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155013.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155013.33,3648.8328,N,-12158.7861,W,1,03,00.5,053.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155014.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 618.00 : -96.35 : Estimated East Bias at time = 618.00 : -30.02 : Estimated Depth Bias at time = 618.00 : -1.34 : Estimated northing and easting = 4074615.23 : 590970.45 : LayeredControl _resolvedCommand - vertMode=2 vert=158.43 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155014.33,3648.8327,N,-12158.7871,W,1,03,00.5,053.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155015.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=158.87 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 620.997459 : TerrainNav update at dvl time = 620.997459 : _navData-> (x,y) = (4074710.91, 590996.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155015.33,3648.8326,N,-12158.7881,W,1,03,00.5,053.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155016.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.60 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155016.33,3648.8324,N,-12158.7891,W,1,03,00.5,053.7,M,-99.9,M,,*4a : Estimated North Bias at time = 621.00 : -97.94 : Estimated East Bias at time = 621.00 : -29.47 : Estimated Depth Bias at time = 621.00 : -1.34 : Estimated northing and easting = 4074612.97 : 590966.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155017.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155017.33,3648.8323,N,-12158.7901,W,1,03,00.5,054.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155018.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=160.43 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : TerrainNav update at nav time = 623.997253 : TerrainNav update at dvl time = 623.997253 : _navData-> (x,y) = (4074710.23, 590991.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155018.33,3648.8322,N,-12158.7910,W,1,03,00.5,052.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155019.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.65 horzlMode=3 horz=4.58 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155019.33,3648.8321,N,-12158.7920,W,1,03,00.5,052.9,M,-99.9,M,,*44 : Estimated North Bias at time = 624.00 : -99.61 : Estimated East Bias at time = 624.00 : -28.83 : Estimated Depth Bias at time = 624.00 : -1.34 : AshtechGps::processRecord() - $GPGGA,155020.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4074610.62 : 590962.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4074710.1, 590989.1), reached at t = 670.99 (wplog) : Vehicle Position is error is (0.3, 0.1) : LayeredControl::execute() -- (t = 670.994034) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 670.994034) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 671.00 (wplog) The current location (N,E) = 4074709.8 , 590989.0 (wplog) The next waypoint = 4074933.1 , 590989.0 (wplog) The bearing to the next w.p. is 0.0 Degrees. : LayeredControl::execute() -- (t = 671.004033) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,155020.33,3648.8320,N,-12158.7930,W,1,03,00.5,052.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155021.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.76 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 626.997048 : TerrainNav update at dvl time = 626.997048 : _navData-> (x,y) = (4074709.55, 590987.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155021.33,3648.8319,N,-12158.7940,W,1,03,00.5,052.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155022.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.95 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155022.33,3648.8318,N,-12158.7949,W,1,03,00.5,052.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155023.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 627.00 : -101.29 : Estimated East Bias at time = 627.00 : -28.21 : Estimated Depth Bias at time = 627.00 : -1.34 : Estimated northing and easting = 4074608.26 : 590959.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=161.69 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155023.33,3648.8317,N,-12158.7959,W,1,03,00.5,053.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155024.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 629.996842 : TerrainNav update at dvl time = 629.996842 : _navData-> (x,y) = (4074709.21, 590982.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155024.33,3648.8318,N,-12158.7969,W,1,03,00.5,053.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155025.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=162.34 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155025.33,3648.8319,N,-12158.7979,W,1,03,00.5,053.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155026.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 630.00 : -102.62 : Estimated East Bias at time = 630.00 : -28.14 : Estimated Depth Bias at time = 630.00 : -1.34 : Estimated northing and easting = 4074606.59 : 590954.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=163.11 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155026.33,3648.8321,N,-12158.7988,W,1,03,00.5,053.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155027.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 632.996637 : TerrainNav update at dvl time = 632.996637 : _navData-> (x,y) = (4074710.05, 590978.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155027.33,3648.8324,N,-12158.7997,W,1,03,00.5,055.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155028.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=164.64 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155028.33,3648.8327,N,-12158.8005,W,1,03,00.5,054.8,M,-99.9,M,,*46 : Estimated North Bias at time = 633.00 : -104.51 : Estimated East Bias at time = 633.00 : -28.68 : Estimated Depth Bias at time = 633.00 : -1.35 : Estimated northing and easting = 4074605.54 : 590949.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155029.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=164.99 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155029.33,3648.8331,N,-12158.8012,W,1,03,00.5,055.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155030.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 635.996431 : TerrainNav update at dvl time = 635.996431 : _navData-> (x,y) = (4074712.09, 590975.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=166.21 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155030.33,3648.8335,N,-12158.8018,W,1,03,00.5,056.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155031.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 636.00 : -105.74 : Estimated East Bias at time = 636.00 : -31.06 : Estimated Depth Bias at time = 636.00 : -1.36 : Estimated northing and easting = 4074606.35 : 590944.29 : NMEA Update: $GPGGA,155031.33,3648.8340,N,-12158.8023,W,1,03,00.5,055.9,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155032.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=166.24 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155032.33,3648.8345,N,-12158.8027,W,1,03,00.5,055.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155033.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 638.996226 : TerrainNav update at dvl time = 638.996226 : _navData-> (x,y) = (4074714.72, 590973.24) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=166.46 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155033.33,3648.8350,N,-12158.8031,W,1,03,00.5,056.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155034.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155034.33,3648.8355,N,-12158.8033,W,1,03,00.5,057.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155035.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 639.00 : -107.25 : Estimated East Bias at time = 639.00 : -33.50 : Estimated Depth Bias at time = 639.00 : -1.36 : LayeredControl _resolvedCommand - vertMode=2 vert=167.94 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated northing and easting = 4074607.47 : 590939.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155035.33,3648.8360,N,-12158.8035,W,1,03,00.5,056.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155036.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=166.05 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 641.996020 : TerrainNav update at dvl time = 641.996020 : _navData-> (x,y) = (4074717.57, 590972.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155036.33,3648.8366,N,-12158.8036,W,1,03,00.5,054.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155037.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 642.00 : -108.53 : Estimated East Bias at time = 642.00 : -35.74 : Estimated Depth Bias at time = 642.00 : -1.36 : Estimated northing and easting = 4074609.04 : 590936.53 : LayeredControl _resolvedCommand - vertMode=2 vert=168.09 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155037.33,3648.8371,N,-12158.8037,W,1,03,00.5,056.4,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155038.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155038.33,3648.8376,N,-12158.8037,W,1,03,00.5,055.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155039.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=168.99 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 644.995815 : TerrainNav update at dvl time = 644.995815 : _navData-> (x,y) = (4074720.48, 590972.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155039.33,3648.8381,N,-12158.8035,W,1,03,00.5,056.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155040.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=169.15 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155040.33,3648.8386,N,-12158.8033,W,1,03,00.5,056.4,M,-99.9,M,,*48 : Estimated North Bias at time = 645.00 : -108.07 : Estimated East Bias at time = 645.00 : -39.01 : Estimated Depth Bias at time = 645.00 : -1.36 : Estimated northing and easting = 4074612.41 : 590933.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155041.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155041.33,3648.8391,N,-12158.8031,W,1,03,00.5,058.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155042.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=169.67 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 647.995609 : TerrainNav update at dvl time = 647.995609 : _navData-> (x,y) = (4074723.25, 590973.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155042.33,3648.8396,N,-12158.8027,W,1,03,00.5,056.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155043.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=169.45 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 648.00 : -107.43 : Estimated East Bias at time = 648.00 : -41.98 : Estimated Depth Bias at time = 648.00 : -1.34 : Estimated northing and easting = 4074615.82 : 590931.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155043.33,3648.8401,N,-12158.8023,W,1,03,00.5,055.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155044.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=169.14 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155044.33,3648.8405,N,-12158.8019,W,1,03,00.5,055.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155045.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 650.995404 : TerrainNav update at dvl time = 650.995404 : _navData-> (x,y) = (4074725.71, 590975.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155045.33,3648.8409,N,-12158.8014,W,1,03,00.5,053.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155046.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=168.09 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155046.33,3648.8413,N,-12158.8008,W,1,03,00.5,058.0,M,-99.9,M,,*47 : Estimated North Bias at time = 651.00 : -106.68 : Estimated East Bias at time = 651.00 : -44.38 : Estimated Depth Bias at time = 651.00 : -1.32 : Estimated northing and easting = 4074619.02 : 590930.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155047.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=168.81 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155047.33,3648.8417,N,-12158.8003,W,1,03,00.5,053.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155048.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 653.995198 : TerrainNav update at dvl time = 653.995198 : _navData-> (x,y) = (4074728.15, 590977.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155048.33,3648.8422,N,-12158.7998,W,1,03,00.5,052.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155049.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=168.38 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 654.00 : -106.12 : Estimated East Bias at time = 654.00 : -45.58 : Estimated Depth Bias at time = 654.00 : -1.32 : Estimated northing and easting = 4074622.03 : 590931.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155049.33,3648.8427,N,-12158.7993,W,1,03,00.5,051.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155050.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=168.42 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155050.33,3648.8432,N,-12158.7988,W,1,03,00.5,049.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155051.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 656.994993 : TerrainNav update at dvl time = 656.994993 : _navData-> (x,y) = (4074730.94, 590979.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=166.63 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155051.33,3648.8437,N,-12158.7983,W,1,03,00.5,049.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155052.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 656.99 : -105.64 : Estimated East Bias at time = 656.99 : -46.42 : Estimated Depth Bias at time = 656.99 : -1.31 : Estimated northing and easting = 4074625.30 : 590933.25 : NMEA Update: $GPGGA,155052.33,3648.8443,N,-12158.7978,W,1,03,00.5,050.4,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155053.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.73 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155053.33,3648.8448,N,-12158.7973,W,1,03,00.5,051.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155054.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 659.994787 : TerrainNav update at dvl time = 659.994787 : _navData-> (x,y) = (4074734.02, 590981.80) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=168.84 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155054.34,3648.8454,N,-12158.7969,W,1,03,00.5,051.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155055.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 659.99 : -105.28 : Estimated East Bias at time = 659.99 : -47.26 : Estimated Depth Bias at time = 659.99 : -1.31 : Estimated northing and easting = 4074628.74 : 590934.54 : NMEA Update: $GPGGA,155055.34,3648.8460,N,-12158.7964,W,1,03,00.5,049.1,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155056.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=167.25 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155056.34,3648.8466,N,-12158.7960,W,1,03,00.5,048.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155057.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=166.48 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 662.994582 : TerrainNav update at dvl time = 662.994582 : _navData-> (x,y) = (4074737.43, 590983.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155057.34,3648.8473,N,-12158.7956,W,1,03,00.5,046.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155058.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 662.99 : -104.93 : Estimated East Bias at time = 662.99 : -48.16 : Estimated Depth Bias at time = 662.99 : -1.30 : Estimated northing and easting = 4074632.50 : 590935.60 : LayeredControl _resolvedCommand - vertMode=2 vert=166.07 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155058.34,3648.8479,N,-12158.7951,W,1,03,00.5,047.4,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155059.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155059.34,3648.8486,N,-12158.7947,W,1,03,00.5,046.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155100.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.39 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 665.994376 : TerrainNav update at dvl time = 665.994376 : _navData-> (x,y) = (4074741.08, 590985.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155100.34,3648.8493,N,-12158.7943,W,1,03,00.5,045.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155101.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=163.87 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 665.99 : -104.49 : Estimated East Bias at time = 665.99 : -49.06 : Estimated Depth Bias at time = 665.99 : -1.30 : Estimated northing and easting = 4074636.59 : 590936.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155101.34,3648.8499,N,-12158.7940,W,1,03,00.5,045.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155102.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155102.34,3648.8506,N,-12158.7936,W,1,03,00.5,044.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155103.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=162.94 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 668.994171 : TerrainNav update at dvl time = 668.994171 : _navData-> (x,y) = (4074744.92, 590987.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155103.34,3648.8513,N,-12158.7933,W,1,03,00.5,043.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155104.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=162.59 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 668.99 : -104.06 : Estimated East Bias at time = 668.99 : -49.77 : Estimated Depth Bias at time = 668.99 : -1.30 : Estimated northing and easting = 4074640.86 : 590937.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155104.34,3648.8520,N,-12158.7930,W,1,03,00.5,042.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155105.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=162.11 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155105.34,3648.8528,N,-12158.7927,W,1,03,00.5,043.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155106.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 671.993965 : TerrainNav update at dvl time = 671.993965 : _navData-> (x,y) = (4074748.90, 590988.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155106.34,3648.8535,N,-12158.7924,W,1,03,00.5,042.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155107.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=160.60 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 671.99 : -103.79 : Estimated East Bias at time = 671.99 : -50.27 : Estimated Depth Bias at time = 671.99 : -1.30 : Estimated northing and easting = 4074645.10 : 590938.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155107.34,3648.8542,N,-12158.7921,W,1,03,00.5,042.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155108.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=160.36 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155108.34,3648.8549,N,-12158.7919,W,1,03,00.5,042.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155109.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 674.993760 : TerrainNav update at dvl time = 674.993760 : _navData-> (x,y) = (4074752.91, 590989.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155109.34,3648.8556,N,-12158.7917,W,1,03,00.5,043.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155110.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.73 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 674.99 : -103.69 : Estimated East Bias at time = 674.99 : -50.76 : Estimated Depth Bias at time = 674.99 : -1.30 : Estimated northing and easting = 4074649.22 : 590938.71 : NMEA Update: $GPGGA,155110.34,3648.8564,N,-12158.7915,W,1,03,00.5,042.7,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155111.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.37 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155111.34,3648.8571,N,-12158.7913,W,1,03,00.5,042.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155112.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 677.993554 : TerrainNav update at dvl time = 677.993554 : _navData-> (x,y) = (4074756.95, 590990.20) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=158.73 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155112.33,3648.8578,N,-12158.7912,W,1,03,00.5,042.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155113.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 677.99 : -103.58 : Estimated East Bias at time = 677.99 : -51.00 : Estimated Depth Bias at time = 677.99 : -1.30 : Estimated northing and easting = 4074653.37 : 590939.19 : NMEA Update: $GPGGA,155113.33,3648.8586,N,-12158.7911,W,1,03,00.5,042.8,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155114.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=158.20 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155114.33,3648.8593,N,-12158.7910,W,1,03,00.5,043.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155115.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 680.993349 : TerrainNav update at dvl time = 680.993349 : _navData-> (x,y) = (4074761.05, 590990.63) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=157.81 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155115.33,3648.8600,N,-12158.7909,W,1,03,00.5,043.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155116.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 680.99 : -103.58 : Estimated East Bias at time = 680.99 : -51.02 : Estimated Depth Bias at time = 680.99 : -1.30 : Estimated northing and easting = 4074657.47 : 590939.62 : NMEA Update: $GPGGA,155116.33,3648.8608,N,-12158.7908,W,1,03,00.5,043.6,M,-99.9,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155117.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=157.08 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155117.33,3648.8615,N,-12158.7908,W,1,03,00.5,044.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155118.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=156.87 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 683.993143 : TerrainNav update at dvl time = 683.993143 : _navData-> (x,y) = (4074765.20, 590990.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155118.33,3648.8623,N,-12158.7908,W,1,03,00.5,044.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155119.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 683.99 : -103.58 : Estimated East Bias at time = 683.99 : -51.02 : Estimated Depth Bias at time = 683.99 : -1.30 : Estimated northing and easting = 4074661.62 : 590939.80 : LayeredControl _resolvedCommand - vertMode=2 vert=156.91 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155119.33,3648.8631,N,-12158.7907,W,1,03,00.5,045.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155120.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155120.33,3648.8638,N,-12158.7907,W,1,03,00.5,045.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155121.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=156.70 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 687.002937 : TerrainNav update at dvl time = 687.002937 : _navData-> (x,y) = (4074769.46, 590990.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155121.33,3648.8646,N,-12158.7907,W,1,03,00.5,046.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155122.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=157.20 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 687.00 : -103.58 : Estimated East Bias at time = 687.00 : -51.24 : Estimated Depth Bias at time = 687.00 : -1.30 : Estimated northing and easting = 4074665.88 : 590939.62 : NMEA Update: $GPGGA,155122.33,3648.8654,N,-12158.7907,W,1,03,00.5,047.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155123.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155123.33,3648.8662,N,-12158.7907,W,1,03,00.5,047.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155124.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=157.46 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 690.002732 : TerrainNav update at dvl time = 690.002732 : _navData-> (x,y) = (4074773.83, 590990.80) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155124.33,3648.8670,N,-12158.7907,W,1,03,00.5,048.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155125.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=157.68 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 690.00 : -103.55 : Estimated East Bias at time = 690.00 : -51.45 : Estimated Depth Bias at time = 690.00 : -1.30 : Estimated northing and easting = 4074670.28 : 590939.35 : NMEA Update: $GPGGA,155125.33,3648.8678,N,-12158.7907,W,1,03,00.5,049.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155126.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=157.69 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155126.33,3648.8686,N,-12158.7908,W,1,03,00.5,049.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155127.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 693.002526 : TerrainNav update at dvl time = 693.002526 : _navData-> (x,y) = (4074778.30, 590990.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155127.33,3648.8694,N,-12158.7908,W,1,03,00.5,050.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155128.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=157.87 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 693.00 : -103.59 : Estimated East Bias at time = 693.00 : -51.58 : Estimated Depth Bias at time = 693.00 : -1.30 : Estimated northing and easting = 4074674.71 : 590939.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155128.33,3648.8702,N,-12158.7908,W,1,03,00.5,050.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155129.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=157.91 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155129.33,3648.8710,N,-12158.7909,W,1,03,00.5,050.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155130.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 696.002321 : TerrainNav update at dvl time = 696.002321 : _navData-> (x,y) = (4074782.82, 590990.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155130.33,3648.8718,N,-12158.7910,W,1,03,00.5,051.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155131.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=158.16 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 696.00 : -103.57 : Estimated East Bias at time = 696.00 : -51.60 : Estimated Depth Bias at time = 696.00 : -1.30 : Estimated northing and easting = 4074679.25 : 590938.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155131.33,3648.8727,N,-12158.7910,W,1,03,00.5,050.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155132.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=157.79 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155132.33,3648.8735,N,-12158.7911,W,1,03,00.5,051.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155133.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 699.002115 : TerrainNav update at dvl time = 699.002115 : _navData-> (x,y) = (4074787.31, 590990.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=156.20 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155133.33,3648.8743,N,-12158.7911,W,1,03,00.5,049.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155134.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 699.00 : -103.56 : Estimated East Bias at time = 699.00 : -51.62 : Estimated Depth Bias at time = 699.00 : -1.30 : Estimated northing and easting = 4074683.75 : 590938.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155134.33,3648.8751,N,-12158.7912,W,1,03,00.5,048.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155135.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=155.68 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155135.33,3648.8760,N,-12158.7912,W,1,03,00.5,048.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155136.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 702.001909 : TerrainNav update at dvl time = 702.001909 : _navData-> (x,y) = (4074791.93, 590989.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=155.36 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155136.33,3648.8768,N,-12158.7913,W,1,03,00.5,047.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155137.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 702.00 : -103.37 : Estimated East Bias at time = 702.00 : -51.44 : Estimated Depth Bias at time = 702.00 : -1.30 : Estimated northing and easting = 4074688.55 : 590938.38 : NMEA Update: $GPGGA,155137.33,3648.8776,N,-12158.7913,W,1,03,00.5,048.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155138.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=155.68 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155138.33,3648.8784,N,-12158.7913,W,1,03,00.5,049.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155139.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=156.73 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 705.001704 : TerrainNav update at dvl time = 705.001704 : _navData-> (x,y) = (4074796.40, 590989.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155139.33,3648.8792,N,-12158.7914,W,1,03,00.5,049.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155140.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 705.00 : -103.34 : Estimated East Bias at time = 705.00 : -51.26 : Estimated Depth Bias at time = 705.00 : -1.30 : Estimated northing and easting = 4074693.06 : 590938.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=155.90 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155140.33,3648.8800,N,-12158.7914,W,1,03,00.5,048.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155141.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155141.33,3648.8808,N,-12158.7914,W,1,03,00.5,048.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155142.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=155.76 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 708.001498 : TerrainNav update at dvl time = 708.001498 : _navData-> (x,y) = (4074800.89, 590989.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155142.33,3648.8816,N,-12158.7914,W,1,03,00.5,048.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155143.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=154.69 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 708.00 : -103.52 : Estimated East Bias at time = 708.00 : -51.08 : Estimated Depth Bias at time = 708.00 : -1.30 : Estimated northing and easting = 4074697.37 : 590938.43 : NMEA Update: $GPGGA,155143.33,3648.8824,N,-12158.7914,W,1,03,00.5,047.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155144.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155144.33,3648.8832,N,-12158.7914,W,1,03,00.5,048.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155145.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=154.77 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 711.001293 : TerrainNav update at dvl time = 711.001293 : _navData-> (x,y) = (4074805.38, 590989.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155145.33,3648.8841,N,-12158.7915,W,1,03,00.5,048.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155146.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=154.17 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 711.00 : -103.74 : Estimated East Bias at time = 711.00 : -51.04 : Estimated Depth Bias at time = 711.00 : -1.30 : Estimated northing and easting = 4074701.64 : 590938.33 : NMEA Update: $GPGGA,155146.33,3648.8849,N,-12158.7915,W,1,03,00.5,047.3,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155147.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=153.84 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155147.33,3648.8857,N,-12158.7915,W,1,03,00.5,047.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155148.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 714.001087 : TerrainNav update at dvl time = 714.001087 : _navData-> (x,y) = (4074809.88, 590989.22) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155148.33,3648.8865,N,-12158.7915,W,1,03,00.5,047.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155149.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=152.95 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 714.00 : -103.84 : Estimated East Bias at time = 714.00 : -50.72 : Estimated Depth Bias at time = 714.00 : -1.30 : Estimated northing and easting = 4074706.04 : 590938.51 : NMEA Update: $GPGGA,155149.33,3648.8873,N,-12158.7916,W,1,03,00.5,047.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155150.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=152.57 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155150.33,3648.8881,N,-12158.7916,W,1,03,00.5,047.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155151.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 717.000882 : TerrainNav update at dvl time = 717.000882 : _navData-> (x,y) = (4074814.38, 590989.09) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155151.33,3648.8889,N,-12158.7916,W,1,03,00.5,047.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155152.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=152.10 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 717.00 : -103.95 : Estimated East Bias at time = 717.00 : -50.63 : Estimated Depth Bias at time = 717.00 : -1.30 : Estimated northing and easting = 4074710.43 : 590938.46 : NMEA Update: $GPGGA,155152.33,3648.8897,N,-12158.7916,W,1,03,00.5,047.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155153.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=151.68 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155153.33,3648.8906,N,-12158.7916,W,1,03,00.5,046.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155154.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 720.000676 : TerrainNav update at dvl time = 720.000676 : _navData-> (x,y) = (4074818.90, 590989.01) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.78 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155154.33,3648.8914,N,-12158.7916,W,1,03,00.5,046.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155155.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 720.00 : -104.04 : Estimated East Bias at time = 720.00 : -50.30 : Estimated Depth Bias at time = 720.00 : -1.30 : Estimated northing and easting = 4074714.86 : 590938.71 : NMEA Update: $GPGGA,155155.33,3648.8922,N,-12158.7916,W,1,03,00.5,046.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155156.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.59 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155156.33,3648.8930,N,-12158.7916,W,1,03,00.5,046.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155157.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 723.000471 : TerrainNav update at dvl time = 723.000471 : _navData-> (x,y) = (4074823.42, 590988.89) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=150.23 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155157.33,3648.8938,N,-12158.7917,W,1,03,00.5,046.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155158.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 723.00 : -104.01 : Estimated East Bias at time = 723.00 : -50.32 : Estimated Depth Bias at time = 723.00 : -1.30 : Estimated northing and easting = 4074719.41 : 590938.57 : NMEA Update: $GPGGA,155158.33,3648.8946,N,-12158.7917,W,1,03,00.5,046.2,M,-99.9,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155159.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=149.20 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155159.33,3648.8955,N,-12158.7917,W,1,03,00.5,047.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155200.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=149.09 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 726.000265 : TerrainNav update at dvl time = 726.000265 : _navData-> (x,y) = (4074827.96, 590988.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155200.33,3648.8963,N,-12158.7917,W,1,03,00.5,046.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155201.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 726.00 : -103.95 : Estimated East Bias at time = 726.00 : -50.21 : Estimated Depth Bias at time = 726.00 : -1.30 : Estimated northing and easting = 4074724.01 : 590938.51 : LayeredControl _resolvedCommand - vertMode=2 vert=149.02 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155201.33,3648.8971,N,-12158.7918,W,1,03,00.5,047.0,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155202.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155202.33,3648.8979,N,-12158.7918,W,1,03,00.5,047.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155203.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.43 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 729.000060 : TerrainNav update at dvl time = 729.000060 : _navData-> (x,y) = (4074832.50, 590988.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155203.33,3648.8987,N,-12158.7918,W,1,03,00.5,046.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155204.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.52 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 729.00 : -103.84 : Estimated East Bias at time = 729.00 : -49.95 : Estimated Depth Bias at time = 729.00 : -1.30 : Estimated northing and easting = 4074728.66 : 590938.63 : NMEA Update: $GPGGA,155204.33,3648.8996,N,-12158.7918,W,1,03,00.5,046.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155205.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155205.33,3648.9004,N,-12158.7918,W,1,03,00.5,048.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155206.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.45 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 731.999855 : TerrainNav update at dvl time = 731.999855 : _navData-> (x,y) = (4074837.07, 590988.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155206.33,3648.9012,N,-12158.7918,W,1,03,00.5,048.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155207.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=147.50 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 732.00 : -103.81 : Estimated East Bias at time = 732.00 : -49.93 : Estimated Depth Bias at time = 732.00 : -1.30 : Estimated northing and easting = 4074733.26 : 590938.58 : NMEA Update: $GPGGA,155207.33,3648.9020,N,-12158.7918,W,1,03,00.5,047.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155208.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=147.69 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155208.33,3648.9028,N,-12158.7918,W,1,03,00.5,048.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155209.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 734.999649 : TerrainNav update at dvl time = 734.999649 : _navData-> (x,y) = (4074841.64, 590988.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155209.33,3648.9037,N,-12158.7918,W,1,03,00.5,048.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155210.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=147.81 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 735.00 : -103.76 : Estimated East Bias at time = 735.00 : -50.07 : Estimated Depth Bias at time = 735.00 : -1.30 : Estimated northing and easting = 4074737.87 : 590938.37 : NMEA Update: $GPGGA,155210.33,3648.9045,N,-12158.7918,W,1,03,00.5,049.0,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155211.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=147.16 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155211.33,3648.9053,N,-12158.7919,W,1,03,00.5,048.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155212.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 737.999444 : TerrainNav update at dvl time = 737.999444 : _navData-> (x,y) = (4074846.22, 590988.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155212.33,3648.9062,N,-12158.7919,W,1,03,00.5,048.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155213.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=146.67 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 738.00 : -103.69 : Estimated East Bias at time = 738.00 : -50.32 : Estimated Depth Bias at time = 738.00 : -1.30 : Estimated northing and easting = 4074742.53 : 590938.02 : NMEA Update: $GPGGA,155213.33,3648.9070,N,-12158.7919,W,1,03,00.5,048.8,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155214.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=146.85 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155214.33,3648.9078,N,-12158.7919,W,1,03,00.5,048.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155215.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 740.999238 : TerrainNav update at dvl time = 740.999238 : _navData-> (x,y) = (4074850.86, 590988.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=146.47 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155215.33,3648.9087,N,-12158.7919,W,1,03,00.5,048.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155216.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 741.00 : -103.63 : Estimated East Bias at time = 741.00 : -50.19 : Estimated Depth Bias at time = 741.00 : -1.30 : Estimated northing and easting = 4074747.23 : 590938.09 : NMEA Update: $GPGGA,155216.33,3648.9095,N,-12158.7919,W,1,03,00.5,048.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155217.00,,,,,0,00,,,M,,M,,*4D : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=146.51 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155217.33,3648.9104,N,-12158.7918,W,1,03,00.5,048.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155218.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 743.999032 : TerrainNav update at dvl time = 743.999032 : _navData-> (x,y) = (4074855.53, 590988.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=146.07 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155218.33,3648.9112,N,-12158.7918,W,1,03,00.5,048.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155219.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 744.00 : -103.54 : Estimated East Bias at time = 744.00 : -50.12 : Estimated Depth Bias at time = 744.00 : -1.30 : Estimated northing and easting = 4074751.99 : 590938.17 : NMEA Update: $GPGGA,155219.33,3648.9120,N,-12158.7918,W,1,03,00.5,048.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155220.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=145.77 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155220.33,3648.9129,N,-12158.7918,W,1,03,00.5,048.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155221.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.69 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 746.998827 : TerrainNav update at dvl time = 746.998827 : _navData-> (x,y) = (4074860.18, 590988.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155221.33,3648.9137,N,-12158.7917,W,1,03,00.5,047.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155222.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 747.00 : -103.46 : Estimated East Bias at time = 747.00 : -49.63 : Estimated Depth Bias at time = 747.00 : -1.30 : Estimated northing and easting = 4074756.72 : 590938.74 : LayeredControl _resolvedCommand - vertMode=2 vert=144.76 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155222.33,3648.9145,N,-12158.7917,W,1,03,00.5,048.0,M,-99.9,M,,*49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155223.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155223.33,3648.9154,N,-12158.7917,W,1,03,00.5,047.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155224.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.39 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 749.998621 : TerrainNav update at dvl time = 749.998621 : _navData-> (x,y) = (4074864.79, 590988.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155224.33,3648.9162,N,-12158.7916,W,1,03,00.5,047.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155225.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.01 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 750.00 : -103.49 : Estimated East Bias at time = 750.00 : -49.49 : Estimated Depth Bias at time = 750.00 : -1.29 : Estimated northing and easting = 4074761.30 : 590938.97 : NMEA Update: $GPGGA,155225.33,3648.9170,N,-12158.7916,W,1,03,00.5,047.7,M,-99.9,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155226.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155226.33,3648.9179,N,-12158.7916,W,1,03,00.5,047.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155227.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=143.64 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 752.998416 : TerrainNav update at dvl time = 752.998416 : _navData-> (x,y) = (4074869.39, 590988.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155227.33,3648.9187,N,-12158.7915,W,1,03,00.5,046.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155228.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=143.29 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 753.00 : -103.53 : Estimated East Bias at time = 753.00 : -49.04 : Estimated Depth Bias at time = 753.00 : -1.29 : Estimated northing and easting = 4074765.86 : 590939.51 : NMEA Update: $GPGGA,155228.33,3648.9195,N,-12158.7915,W,1,03,00.5,046.8,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155229.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=142.97 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155229.33,3648.9204,N,-12158.7915,W,1,03,00.5,047.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155230.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 755.998210 : TerrainNav update at dvl time = 755.998210 : _navData-> (x,y) = (4074874.02, 590988.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155230.33,3648.9212,N,-12158.7915,W,1,03,00.5,047.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155231.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=142.06 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 756.00 : -103.51 : Estimated East Bias at time = 756.00 : -48.77 : Estimated Depth Bias at time = 756.00 : -1.29 : Estimated northing and easting = 4074770.51 : 590939.85 : NMEA Update: $GPGGA,155231.33,3648.9220,N,-12158.7914,W,1,03,00.5,046.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155232.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=141.76 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155232.33,3648.9229,N,-12158.7914,W,1,03,00.5,046.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155233.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 758.998005 : TerrainNav update at dvl time = 758.998005 : _navData-> (x,y) = (4074878.68, 590988.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155233.33,3648.9237,N,-12158.7914,W,1,03,00.5,047.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155234.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=141.45 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155234.33,3648.9245,N,-12158.7913,W,1,03,00.5,046.8,M,-99.9,M,,*4f : Estimated North Bias at time = 759.00 : -103.43 : Estimated East Bias at time = 759.00 : -48.81 : Estimated Depth Bias at time = 759.00 : -1.29 : Estimated northing and easting = 4074775.25 : 590939.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155235.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=140.93 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155235.33,3648.9254,N,-12158.7913,W,1,03,00.5,047.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155236.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 761.997799 : TerrainNav update at dvl time = 761.997799 : _navData-> (x,y) = (4074883.33, 590988.85) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=140.07 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155236.33,3648.9262,N,-12158.7912,W,1,03,00.5,046.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155237.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155237.33,3648.9271,N,-12158.7912,W,1,03,00.5,046.9,M,-99.9,M,,*4b : Estimated North Bias at time = 762.00 : -103.39 : Estimated East Bias at time = 762.00 : -48.54 : Estimated Depth Bias at time = 762.00 : -1.29 : Estimated northing and easting = 4074779.94 : 590940.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155238.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=139.61 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155238.33,3648.9279,N,-12158.7912,W,1,03,00.5,046.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155239.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 764.997594 : TerrainNav update at dvl time = 764.997594 : _navData-> (x,y) = (4074887.97, 590988.96) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=139.59 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155239.33,3648.9287,N,-12158.7911,W,1,03,00.5,047.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155240.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155240.33,3648.9296,N,-12158.7911,W,1,03,00.5,047.3,M,-99.9,M,,*4a : Estimated North Bias at time = 765.00 : -103.30 : Estimated East Bias at time = 765.00 : -48.47 : Estimated Depth Bias at time = 765.00 : -1.29 : Estimated northing and easting = 4074784.67 : 590940.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155241.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=139.27 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155241.33,3648.9304,N,-12158.7911,W,1,03,00.5,047.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155242.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=138.91 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 767.997388 : TerrainNav update at dvl time = 767.997388 : _navData-> (x,y) = (4074892.60, 590989.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155242.33,3648.9312,N,-12158.7911,W,1,03,00.5,047.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155243.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=138.49 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155243.33,3648.9321,N,-12158.7910,W,1,03,00.5,047.5,M,-99.9,M,,*43 : Estimated North Bias at time = 768.00 : -103.29 : Estimated East Bias at time = 768.00 : -48.23 : Estimated Depth Bias at time = 768.00 : -1.29 : Estimated northing and easting = 4074789.31 : 590940.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155244.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155244.33,3648.9329,N,-12158.7910,W,1,03,00.5,047.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155245.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=138.25 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 770.997183 : TerrainNav update at dvl time = 770.997183 : _navData-> (x,y) = (4074897.26, 590989.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155245.33,3648.9338,N,-12158.7910,W,1,03,00.5,047.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155246.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.94 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 771.00 : -103.24 : Estimated East Bias at time = 771.00 : -47.99 : Estimated Depth Bias at time = 771.00 : -1.29 : Estimated northing and easting = 4074794.02 : 590941.07 : NMEA Update: $GPGGA,155246.33,3648.9346,N,-12158.7910,W,1,03,00.5,048.5,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155247.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155247.33,3648.9355,N,-12158.7910,W,1,03,00.5,048.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155248.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.67 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 773.996978 : TerrainNav update at dvl time = 773.996978 : _navData-> (x,y) = (4074901.95, 590989.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155248.33,3648.9363,N,-12158.7910,W,1,03,00.5,048.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155249.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.79 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 774.00 : -103.26 : Estimated East Bias at time = 774.00 : -47.38 : Estimated Depth Bias at time = 774.00 : -1.29 : Estimated northing and easting = 4074798.69 : 590941.69 : NMEA Update: $GPGGA,155249.33,3648.9371,N,-12158.7909,W,1,03,00.5,048.6,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155250.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.29 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155250.33,3648.9380,N,-12158.7909,W,1,03,00.5,048.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155251.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 776.996772 : TerrainNav update at dvl time = 776.996772 : _navData-> (x,y) = (4074906.63, 590989.09) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155251.33,3648.9388,N,-12158.7909,W,1,03,00.5,048.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155252.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.46 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155252.33,3648.9397,N,-12158.7909,W,1,03,00.5,048.8,M,-99.9,M,,*44 : Estimated North Bias at time = 777.00 : -103.22 : Estimated East Bias at time = 777.00 : -46.79 : Estimated Depth Bias at time = 777.00 : -1.29 : Estimated northing and easting = 4074803.40 : 590942.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155253.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.35 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155253.33,3648.9405,N,-12158.7909,W,1,03,00.5,049.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155254.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 779.996567 : TerrainNav update at dvl time = 779.996567 : _navData-> (x,y) = (4074911.30, 590989.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155254.33,3648.9413,N,-12158.7909,W,1,03,00.5,049.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155255.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.22 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 780.00 : -103.17 : Estimated East Bias at time = 780.00 : -46.39 : Estimated Depth Bias at time = 780.00 : -1.29 : Estimated northing and easting = 4074808.13 : 590942.74 : NMEA Update: $GPGGA,155255.33,3648.9422,N,-12158.7908,W,1,03,00.5,048.6,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155256.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=136.68 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155256.33,3648.9430,N,-12158.7908,W,1,03,00.5,049.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155257.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 782.996361 : TerrainNav update at dvl time = 782.996361 : _navData-> (x,y) = (4074915.98, 590989.14) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=135.97 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155257.33,3648.9439,N,-12158.7908,W,1,03,00.5,048.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155258.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 783.00 : -103.20 : Estimated East Bias at time = 783.00 : -45.56 : Estimated Depth Bias at time = 783.00 : -1.29 : Estimated northing and easting = 4074812.78 : 590943.58 : NMEA Update: $GPGGA,155258.33,3648.9447,N,-12158.7908,W,1,03,00.5,048.7,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155259.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=135.92 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155259.33,3648.9456,N,-12158.7908,W,1,03,00.5,049.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155300.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 785.996156 : TerrainNav update at dvl time = 785.996156 : _navData-> (x,y) = (4074920.67, 590989.12) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=135.40 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155300.33,3648.9464,N,-12158.7908,W,1,03,00.5,049.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155301.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 786.00 : -103.33 : Estimated East Bias at time = 786.00 : -44.52 : Estimated Depth Bias at time = 786.00 : -1.29 : Estimated northing and easting = 4074817.34 : 590944.60 : NMEA Update: $GPGGA,155301.33,3648.9473,N,-12158.7908,W,1,03,00.5,048.8,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155302.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=135.55 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155302.33,3648.9481,N,-12158.7908,W,1,03,00.5,048.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155303.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=135.11 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 788.995950 : TerrainNav update at dvl time = 788.995950 : _navData-> (x,y) = (4074925.32, 590989.14) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155303.33,3648.9489,N,-12158.7907,W,1,03,00.5,048.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155304.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 789.00 : -103.37 : LayeredControl _resolvedCommand - vertMode=2 vert=134.79 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated East Bias at time = 789.00 : -43.66 : Estimated Depth Bias at time = 789.00 : -1.29 : Estimated northing and easting = 4074821.95 : 590945.48 : NMEA Update: $GPGGA,155304.33,3648.9498,N,-12158.7907,W,1,03,00.5,048.5,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155305.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155305.33,3648.9506,N,-12158.7907,W,1,03,00.5,048.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155306.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.50 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : TerrainNav update at nav time = 791.995744 : TerrainNav update at dvl time = 791.995744 : _navData-> (x,y) = (4074929.94, 590989.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155306.33,3648.9514,N,-12158.7907,W,1,03,00.5,048.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155307.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=135.06 horzlMode=3 horz=0.00 speedMode=1 speed=1.50 : Estimated North Bias at time = 792.00 : -103.49 : Estimated East Bias at time = 792.00 : -42.81 : Estimated Depth Bias at time = 792.00 : -1.29 : Estimated northing and easting = 4074826.46 : 590946.35 : NMEA Update: $GPGGA,155307.33,3648.9523,N,-12158.7907,W,1,03,00.5,049.3,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155308.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074933.1, 590989.0), reached at t = 839.39 (wplog) : Vehicle Position is error is (-0.2, -0.1) : LayeredControl::execute() -- (t = 839.392498) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 839.392498) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 839.40 (wplog) The current location (N,E) = 4074933.3 , 590989.2 (wplog) The next waypoint = 4075185.4 , 590854.0 (wplog) The bearing to the next w.p. is 331.8 Degrees. : LayeredControl::execute() -- (t = 839.402497) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,155308.33,3648.9531,N,-12158.7907,W,1,03,00.5,049.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155309.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.88 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 794.995539 : TerrainNav update at dvl time = 794.995539 : _navData-> (x,y) = (4074934.57, 590989.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155309.33,3648.9539,N,-12158.7907,W,1,03,00.5,048.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155310.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.79 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 795.00 : -103.57 : Estimated East Bias at time = 795.00 : -41.96 : Estimated Depth Bias at time = 795.00 : -1.29 : Estimated northing and easting = 4074831.00 : 590947.21 : NMEA Update: $GPGGA,155310.33,3648.9548,N,-12158.7907,W,1,03,00.5,049.3,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155311.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=133.02 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155311.33,3648.9556,N,-12158.7908,W,1,03,00.5,048.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155312.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 797.995333 : TerrainNav update at dvl time = 797.995333 : _navData-> (x,y) = (4074939.16, 590988.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155312.33,3648.9564,N,-12158.7909,W,1,03,00.5,048.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155313.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=132.72 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155313.33,3648.9572,N,-12158.7911,W,1,03,00.5,047.8,M,-99.9,M,,*4b : Estimated North Bias at time = 798.00 : -103.46 : Estimated East Bias at time = 798.00 : -41.51 : Estimated Depth Bias at time = 798.00 : -1.30 : Estimated northing and easting = 4074835.70 : 590947.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155314.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=132.90 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155314.33,3648.9580,N,-12158.7914,W,1,03,00.5,048.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155315.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 800.995128 : TerrainNav update at dvl time = 800.995128 : _navData-> (x,y) = (4074943.42, 590987.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155315.33,3648.9587,N,-12158.7917,W,1,03,00.5,048.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155316.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=132.68 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 801.00 : -103.22 : Estimated East Bias at time = 801.00 : -39.75 : Estimated Depth Bias at time = 801.00 : -1.30 : Estimated northing and easting = 4074840.20 : 590948.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155316.33,3648.9594,N,-12158.7921,W,1,03,00.5,049.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155317.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=133.51 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155317.33,3648.9600,N,-12158.7925,W,1,03,00.5,049.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155318.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 803.994922 : TerrainNav update at dvl time = 803.994922 : _navData-> (x,y) = (4074947.13, 590985.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=134.79 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155318.33,3648.9607,N,-12158.7929,W,1,03,00.5,051.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155319.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155319.33,3648.9613,N,-12158.7934,W,1,03,00.5,051.1,M,-99.9,M,,*4c : Estimated North Bias at time = 803.99 : -102.66 : Estimated East Bias at time = 803.99 : -38.97 : Estimated Depth Bias at time = 803.99 : -1.30 : Estimated northing and easting = 4074844.47 : 590946.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155320.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.86 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155320.34,3648.9619,N,-12158.7940,W,1,03,00.5,051.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155321.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 806.994717 : TerrainNav update at dvl time = 806.994717 : _navData-> (x,y) = (4074950.42, 590983.58) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=135.48 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155321.34,3648.9624,N,-12158.7945,W,1,03,00.5,052.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155322.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155322.34,3648.9630,N,-12158.7951,W,1,03,00.5,052.2,M,-99.9,M,,*41 : Estimated North Bias at time = 806.99 : -102.09 : Estimated East Bias at time = 806.99 : -39.44 : Estimated Depth Bias at time = 806.99 : -1.30 : Estimated northing and easting = 4074848.33 : 590944.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155323.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.52 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155323.34,3648.9636,N,-12158.7958,W,1,03,00.5,051.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155324.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.84 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 809.994511 : TerrainNav update at dvl time = 809.994511 : _navData-> (x,y) = (4074953.51, 590980.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155324.34,3648.9641,N,-12158.7964,W,1,03,00.5,052.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155325.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.46 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155325.34,3648.9647,N,-12158.7971,W,1,03,00.5,051.6,M,-99.9,M,,*43 : Estimated North Bias at time = 809.99 : -101.56 : Estimated East Bias at time = 809.99 : -39.72 : Estimated Depth Bias at time = 809.99 : -1.29 : Estimated northing and easting = 4074851.95 : 590941.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155326.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155326.34,3648.9652,N,-12158.7977,W,1,03,00.5,051.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155327.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=133.48 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 812.994306 : TerrainNav update at dvl time = 812.994306 : _navData-> (x,y) = (4074956.57, 590977.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155327.34,3648.9658,N,-12158.7984,W,1,03,00.5,051.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155328.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.52 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155328.34,3648.9664,N,-12158.7990,W,1,03,00.5,051.4,M,-99.9,M,,*42 : Estimated North Bias at time = 812.99 : -101.43 : Estimated East Bias at time = 812.99 : -39.37 : Estimated Depth Bias at time = 812.99 : -1.29 : Estimated northing and easting = 4074855.14 : 590938.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155329.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155329.34,3648.9669,N,-12158.7997,W,1,03,00.5,051.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155330.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=134.95 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 815.994101 : TerrainNav update at dvl time = 815.994101 : _navData-> (x,y) = (4074959.72, 590974.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155330.34,3648.9675,N,-12158.8003,W,1,03,00.5,052.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155331.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=136.41 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155331.34,3648.9681,N,-12158.8009,W,1,03,00.5,053.4,M,-99.9,M,,*45 : Estimated North Bias at time = 815.99 : -101.17 : Estimated East Bias at time = 815.99 : -39.21 : Estimated Depth Bias at time = 815.99 : -1.29 : Estimated northing and easting = 4074858.55 : 590935.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155332.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=136.62 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155332.34,3648.9687,N,-12158.8015,W,1,03,00.5,052.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155333.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 818.993895 : TerrainNav update at dvl time = 818.993895 : _navData-> (x,y) = (4074963.04, 590972.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155333.34,3648.9693,N,-12158.8021,W,1,03,00.5,054.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155334.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.10 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 818.99 : -101.08 : Estimated East Bias at time = 818.99 : -39.55 : Estimated Depth Bias at time = 818.99 : -1.29 : Estimated northing and easting = 4074861.96 : 590932.68 : NMEA Update: $GPGGA,155334.34,3648.9700,N,-12158.8026,W,1,03,00.5,053.7,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155335.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.44 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155335.34,3648.9706,N,-12158.8032,W,1,03,00.5,053.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155336.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 821.993690 : TerrainNav update at dvl time = 821.993690 : _navData-> (x,y) = (4074966.58, 590969.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155336.34,3648.9713,N,-12158.8037,W,1,03,00.5,054.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155337.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=138.10 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155337.34,3648.9719,N,-12158.8042,W,1,03,00.5,054.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155338.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 821.99 : -101.09 : Estimated East Bias at time = 821.99 : -39.39 : Estimated Depth Bias at time = 821.99 : -1.29 : Estimated northing and easting = 4074865.49 : 590930.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=137.48 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155338.33,3648.9726,N,-12158.8048,W,1,03,00.5,053.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155339.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 824.993484 : TerrainNav update at dvl time = 824.993484 : _navData-> (x,y) = (4074970.26, 590967.39) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=138.28 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155339.33,3648.9733,N,-12158.8053,W,1,03,00.5,054.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155340.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155340.33,3648.9740,N,-12158.8058,W,1,03,00.5,052.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155341.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 824.99 : -100.83 : Estimated East Bias at time = 824.99 : -39.25 : Estimated Depth Bias at time = 824.99 : -1.29 : Estimated northing and easting = 4074869.43 : 590928.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=136.44 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155341.33,3648.9747,N,-12158.8063,W,1,03,00.5,051.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155342.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 827.993279 : TerrainNav update at dvl time = 827.993279 : _navData-> (x,y) = (4074974.03, 590965.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=136.83 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155342.33,3648.9753,N,-12158.8067,W,1,03,00.5,051.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155343.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 827.99 : -100.66 : Estimated East Bias at time = 827.99 : -39.06 : Estimated Depth Bias at time = 827.99 : -1.29 : Estimated northing and easting = 4074873.36 : 590926.08 : NMEA Update: $GPGGA,155343.33,3648.9760,N,-12158.8072,W,1,03,00.5,051.5,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155344.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=136.95 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155344.33,3648.9767,N,-12158.8077,W,1,03,00.5,051.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155345.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=138.01 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 831.003072 : TerrainNav update at dvl time = 831.003072 : _navData-> (x,y) = (4074977.81, 590963.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155345.33,3648.9774,N,-12158.8081,W,1,03,00.5,051.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155346.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 831.00 : -100.28 : Estimated East Bias at time = 831.00 : -38.65 : Estimated Depth Bias at time = 831.00 : -1.29 : Estimated northing and easting = 4074877.53 : 590924.40 : LayeredControl _resolvedCommand - vertMode=2 vert=140.25 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155346.33,3648.9781,N,-12158.8085,W,1,03,00.5,053.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155347.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155347.33,3648.9788,N,-12158.8089,W,1,03,00.5,053.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155348.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=139.69 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 834.002867 : TerrainNav update at dvl time = 834.002867 : _navData-> (x,y) = (4074981.73, 590961.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155348.33,3648.9796,N,-12158.8093,W,1,03,00.5,053.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155349.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=140.94 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 834.00 : -100.25 : Estimated East Bias at time = 834.00 : -38.59 : Estimated Depth Bias at time = 834.00 : -1.29 : Estimated northing and easting = 4074881.48 : 590922.57 : NMEA Update: $GPGGA,155349.33,3648.9803,N,-12158.8097,W,1,03,00.5,053.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155350.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155350.33,3648.9810,N,-12158.8101,W,1,03,00.5,053.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155351.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=140.16 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 837.002661 : TerrainNav update at dvl time = 837.002661 : _navData-> (x,y) = (4074985.75, 590959.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155351.33,3648.9817,N,-12158.8106,W,1,03,00.5,054.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155352.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=141.45 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155352.33,3648.9825,N,-12158.8110,W,1,03,00.5,053.2,M,-99.9,M,,*48 : Estimated North Bias at time = 837.00 : -100.46 : Estimated East Bias at time = 837.00 : -38.80 : Estimated Depth Bias at time = 837.00 : -1.29 : Estimated northing and easting = 4074885.29 : 590920.49 : AshtechGps::processRecord() - $GPGGA,155353.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=140.79 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155353.33,3648.9832,N,-12158.8114,W,1,03,00.5,053.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155354.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 840.002456 : TerrainNav update at dvl time = 840.002456 : _navData-> (x,y) = (4074989.80, 590957.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155354.33,3648.9839,N,-12158.8118,W,1,03,00.5,053.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155355.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=140.81 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155355.33,3648.9847,N,-12158.8122,W,1,03,00.5,053.0,M,-99.9,M,,*48 : Estimated North Bias at time = 840.00 : -100.92 : Estimated East Bias at time = 840.00 : -39.07 : Estimated Depth Bias at time = 840.00 : -1.29 : Estimated northing and easting = 4074888.88 : 590918.32 : AshtechGps::processRecord() - $GPGGA,155356.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=139.37 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155356.33,3648.9854,N,-12158.8126,W,1,03,00.5,050.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155357.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 843.002250 : TerrainNav update at dvl time = 843.002250 : _navData-> (x,y) = (4074993.78, 590955.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155357.33,3648.9861,N,-12158.8131,W,1,03,00.5,051.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155358.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=139.61 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 843.00 : -101.12 : Estimated East Bias at time = 843.00 : -39.18 : Estimated Depth Bias at time = 843.00 : -1.29 : Estimated northing and easting = 4074892.66 : 590916.30 : NMEA Update: $GPGGA,155358.33,3648.9868,N,-12158.8135,W,1,03,00.5,051.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155359.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=140.12 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155359.33,3648.9875,N,-12158.8139,W,1,03,00.5,051.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155400.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 846.002045 : TerrainNav update at dvl time = 846.002045 : _navData-> (x,y) = (4074997.61, 590953.55) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=140.66 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155400.33,3648.9882,N,-12158.8143,W,1,03,00.5,051.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155401.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155401.33,3648.9889,N,-12158.8148,W,1,03,00.5,051.5,M,-99.9,M,,*47 : Estimated North Bias at time = 846.00 : -100.40 : Estimated East Bias at time = 846.00 : -38.50 : Estimated Depth Bias at time = 846.00 : -1.29 : Estimated northing and easting = 4074897.21 : 590915.05 : AshtechGps::processRecord() - $GPGGA,155402.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=143.15 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155402.33,3648.9896,N,-12158.8152,W,1,03,00.5,052.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155403.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 849.001839 : TerrainNav update at dvl time = 849.001839 : _navData-> (x,y) = (4075001.61, 590951.60) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=143.46 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155403.33,3648.9904,N,-12158.8156,W,1,03,00.5,053.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155404.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 849.00 : -100.26 : Estimated East Bias at time = 849.00 : -38.33 : Estimated Depth Bias at time = 849.00 : -1.29 : Estimated northing and easting = 4074901.35 : 590913.27 : NMEA Update: $GPGGA,155404.33,3648.9911,N,-12158.8161,W,1,03,00.5,053.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155405.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=144.53 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155405.33,3648.9918,N,-12158.8165,W,1,03,00.5,053.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155406.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=145.22 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 852.001634 : TerrainNav update at dvl time = 852.001634 : _navData-> (x,y) = (4075005.66, 590949.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155406.33,3648.9926,N,-12158.8169,W,1,03,00.5,054.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155407.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=145.19 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155407.33,3648.9933,N,-12158.8173,W,1,03,00.5,054.4,M,-99.9,M,,*4d : Estimated North Bias at time = 852.00 : -100.63 : Estimated East Bias at time = 852.00 : -39.00 : Estimated Depth Bias at time = 852.00 : -1.29 : Estimated northing and easting = 4074905.03 : 590910.66 : AshtechGps::processRecord() - $GPGGA,155408.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155408.33,3648.9940,N,-12158.8178,W,1,03,00.5,053.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155409.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.34 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 855.001428 : TerrainNav update at dvl time = 855.001428 : _navData-> (x,y) = (4075009.73, 590947.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155409.33,3648.9948,N,-12158.8182,W,1,03,00.5,053.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155410.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.62 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155410.33,3648.9955,N,-12158.8186,W,1,03,00.5,053.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155411.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 855.00 : -100.95 : Estimated East Bias at time = 855.00 : -39.27 : Estimated Depth Bias at time = 855.00 : -1.30 : Estimated northing and easting = 4074908.78 : 590908.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155411.33,3648.9962,N,-12158.8191,W,1,03,00.5,052.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155412.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=143.90 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 858.001223 : TerrainNav update at dvl time = 858.001223 : _navData-> (x,y) = (4075013.76, 590945.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155412.33,3648.9970,N,-12158.8195,W,1,03,00.5,051.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155413.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=145.21 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155413.33,3648.9977,N,-12158.8199,W,1,03,00.5,053.0,M,-99.9,M,,*4f : Estimated North Bias at time = 858.00 : -101.23 : Estimated East Bias at time = 858.00 : -39.52 : Estimated Depth Bias at time = 858.00 : -1.30 : Estimated northing and easting = 4074912.52 : 590906.21 : AshtechGps::processRecord() - $GPGGA,155414.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=144.94 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155414.33,3648.9984,N,-12158.8204,W,1,03,00.5,052.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155415.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 861.001017 : TerrainNav update at dvl time = 861.001017 : _navData-> (x,y) = (4075017.71, 590943.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155415.33,3648.9991,N,-12158.8208,W,1,03,00.5,052.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155416.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=145.63 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155416.33,3648.9998,N,-12158.8212,W,1,03,00.5,052.6,M,-99.9,M,,*4c : Estimated North Bias at time = 861.00 : -101.48 : Estimated East Bias at time = 861.00 : -40.04 : Estimated Depth Bias at time = 861.00 : -1.30 : Estimated northing and easting = 4074916.23 : 590903.71 : AshtechGps::processRecord() - $GPGGA,155417.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=147.14 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155417.33,3649.0005,N,-12158.8217,W,1,03,00.5,053.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155418.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 864.000812 : TerrainNav update at dvl time = 864.000812 : _navData-> (x,y) = (4075021.66, 590941.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155418.33,3649.0013,N,-12158.8221,W,1,03,00.5,052.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155419.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=146.67 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155419.33,3649.0020,N,-12158.8225,W,1,03,00.5,052.3,M,-99.9,M,,*40 : Estimated North Bias at time = 864.00 : -101.65 : Estimated East Bias at time = 864.00 : -39.98 : Estimated Depth Bias at time = 864.00 : -1.30 : Estimated northing and easting = 4074920.01 : 590901.80 : AshtechGps::processRecord() - $GPGGA,155420.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=148.07 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155420.33,3649.0027,N,-12158.8229,W,1,03,00.5,053.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155421.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 867.000606 : TerrainNav update at dvl time = 867.000606 : _navData-> (x,y) = (4075025.64, 590939.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=148.60 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155421.33,3649.0034,N,-12158.8234,W,1,03,00.5,053.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155422.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155422.33,3649.0041,N,-12158.8238,W,1,03,00.5,053.1,M,-99.9,M,,*40 : Estimated North Bias at time = 867.00 : -101.90 : Estimated East Bias at time = 867.00 : -40.16 : Estimated Depth Bias at time = 867.00 : -1.31 : Estimated northing and easting = 4074923.74 : 590899.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155423.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.90 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155423.33,3649.0049,N,-12158.8242,W,1,03,00.5,052.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155424.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 870.000401 : TerrainNav update at dvl time = 870.000401 : _navData-> (x,y) = (4075029.64, 590937.87) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=149.45 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155424.33,3649.0056,N,-12158.8247,W,1,03,00.5,053.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155425.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155425.33,3649.0063,N,-12158.8251,W,1,03,00.5,053.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155426.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 870.00 : -102.39 : Estimated East Bias at time = 870.00 : -40.94 : Estimated Depth Bias at time = 870.00 : -1.31 : Estimated northing and easting = 4074927.24 : 590896.93 : LayeredControl _resolvedCommand - vertMode=2 vert=149.81 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155426.33,3649.0070,N,-12158.8256,W,1,03,00.5,052.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155427.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=149.86 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 873.000195 : TerrainNav update at dvl time = 873.000195 : _navData-> (x,y) = (4075033.61, 590935.82) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155427.33,3649.0077,N,-12158.8260,W,1,03,00.5,052.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155428.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=149.44 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155428.33,3649.0085,N,-12158.8265,W,1,03,00.5,052.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155429.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 873.00 : -102.59 : Estimated East Bias at time = 873.00 : -41.42 : Estimated Depth Bias at time = 873.00 : -1.31 : Estimated northing and easting = 4074931.02 : 590894.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155429.33,3649.0092,N,-12158.8269,W,1,03,00.5,052.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155430.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.31 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 875.999990 : TerrainNav update at dvl time = 875.999990 : _navData-> (x,y) = (4075037.51, 590933.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155430.33,3649.0099,N,-12158.8274,W,1,03,00.5,053.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155431.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=150.62 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155431.33,3649.0106,N,-12158.8278,W,1,03,00.5,052.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155432.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 876.00 : -102.96 : Estimated East Bias at time = 876.00 : -42.07 : Estimated Depth Bias at time = 876.00 : -1.31 : Estimated northing and easting = 4074934.55 : 590891.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155432.33,3649.0113,N,-12158.8283,W,1,03,00.5,052.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155433.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.13 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 878.999784 : TerrainNav update at dvl time = 878.999784 : _navData-> (x,y) = (4075041.38, 590931.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155433.33,3649.0120,N,-12158.8287,W,1,03,00.5,053.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155434.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.62 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155434.33,3649.0127,N,-12158.8292,W,1,03,00.5,053.2,M,-99.9,M,,*45 : Estimated North Bias at time = 879.00 : -103.10 : Estimated East Bias at time = 879.00 : -42.45 : Estimated Depth Bias at time = 879.00 : -1.31 : Estimated northing and easting = 4074938.28 : 590889.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155435.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=152.13 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155435.33,3649.0134,N,-12158.8296,W,1,03,00.5,052.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155436.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 881.999579 : TerrainNav update at dvl time = 881.999579 : _navData-> (x,y) = (4075045.24, 590929.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155436.33,3649.0141,N,-12158.8300,W,1,03,00.5,053.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155437.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=153.11 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155437.33,3649.0148,N,-12158.8305,W,1,03,00.5,053.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155438.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 882.00 : -103.12 : Estimated East Bias at time = 882.00 : -42.64 : Estimated Depth Bias at time = 882.00 : -1.31 : Estimated northing and easting = 4074942.12 : 590887.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=153.44 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155438.33,3649.0155,N,-12158.8309,W,1,03,00.5,053.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155439.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 884.999373 : TerrainNav update at dvl time = 884.999373 : _navData-> (x,y) = (4075049.09, 590927.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155439.33,3649.0162,N,-12158.8314,W,1,03,00.5,053.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155440.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=154.18 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155440.33,3649.0169,N,-12158.8319,W,1,03,00.5,053.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155441.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 885.00 : -103.33 : Estimated East Bias at time = 885.00 : -42.92 : Estimated Depth Bias at time = 885.00 : -1.31 : Estimated northing and easting = 4074945.76 : 590884.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=154.34 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155441.33,3649.0176,N,-12158.8323,W,1,03,00.5,053.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155442.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 887.999168 : TerrainNav update at dvl time = 887.999168 : _navData-> (x,y) = (4075052.94, 590925.59) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=154.31 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155442.33,3649.0183,N,-12158.8328,W,1,03,00.5,052.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155443.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155443.33,3649.0189,N,-12158.8332,W,1,03,00.5,053.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155444.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 888.00 : -103.51 : Estimated East Bias at time = 888.00 : -43.19 : Estimated Depth Bias at time = 888.00 : -1.31 : Estimated northing and easting = 4074949.43 : 590882.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=154.99 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155444.33,3649.0196,N,-12158.8337,W,1,03,00.5,053.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155445.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 890.998962 : TerrainNav update at dvl time = 890.998962 : _navData-> (x,y) = (4075056.73, 590923.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=155.61 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155445.33,3649.0203,N,-12158.8342,W,1,03,00.5,052.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155446.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155446.33,3649.0210,N,-12158.8346,W,1,03,00.5,053.1,M,-99.9,M,,*4c : Estimated North Bias at time = 891.00 : -103.75 : Estimated East Bias at time = 891.00 : -43.50 : Estimated Depth Bias at time = 891.00 : -1.31 : AshtechGps::processRecord() - $GPGGA,155447.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated northing and easting = 4074952.99 : 590879.97 : LayeredControl _resolvedCommand - vertMode=2 vert=156.31 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155447.33,3649.0217,N,-12158.8351,W,1,03,00.5,054.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155448.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=157.56 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 893.998757 : TerrainNav update at dvl time = 893.998757 : _navData-> (x,y) = (4075060.51, 590921.32) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155448.33,3649.0224,N,-12158.8356,W,1,03,00.5,053.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155449.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=158.16 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155449.33,3649.0231,N,-12158.8361,W,1,03,00.5,054.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155450.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 894.00 : -103.89 : Estimated East Bias at time = 894.00 : -43.74 : Estimated Depth Bias at time = 894.00 : -1.31 : Estimated northing and easting = 4074956.62 : 590877.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155450.33,3649.0237,N,-12158.8365,W,1,03,00.5,053.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155451.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.16 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 896.998551 : TerrainNav update at dvl time = 896.998551 : _navData-> (x,y) = (4075064.29, 590919.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155451.33,3649.0244,N,-12158.8370,W,1,03,00.5,054.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155452.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.25 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155452.33,3649.0251,N,-12158.8375,W,1,03,00.5,054.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155453.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 897.00 : -104.09 : Estimated East Bias at time = 897.00 : -44.16 : Estimated Depth Bias at time = 897.00 : -1.31 : Estimated northing and easting = 4074960.20 : 590875.02 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155453.33,3649.0258,N,-12158.8379,W,1,03,00.5,054.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155454.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.53 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 899.998346 : TerrainNav update at dvl time = 899.998346 : _navData-> (x,y) = (4075068.04, 590917.05) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155454.33,3649.0265,N,-12158.8384,W,1,03,00.5,054.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155455.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=160.51 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155455.33,3649.0271,N,-12158.8389,W,1,03,00.5,053.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155456.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 900.00 : -104.44 : Estimated East Bias at time = 900.00 : -44.78 : Estimated Depth Bias at time = 900.00 : -1.31 : Estimated northing and easting = 4074963.60 : 590872.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=159.94 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155456.33,3649.0278,N,-12158.8393,W,1,03,00.5,053.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155457.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 902.998140 : TerrainNav update at dvl time = 902.998140 : _navData-> (x,y) = (4075071.72, 590914.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155457.33,3649.0285,N,-12158.8398,W,1,03,00.5,053.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155458.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=160.93 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155458.33,3649.0291,N,-12158.8402,W,1,03,00.5,053.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155459.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 903.00 : -104.77 : Estimated East Bias at time = 903.00 : -45.54 : Estimated Depth Bias at time = 903.00 : -1.31 : Estimated northing and easting = 4074966.95 : 590869.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=161.46 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155459.33,3649.0298,N,-12158.8407,W,1,03,00.5,054.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155500.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 905.997935 : TerrainNav update at dvl time = 905.997935 : _navData-> (x,y) = (4075075.38, 590912.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155500.33,3649.0304,N,-12158.8412,W,1,03,00.5,053.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155501.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=161.80 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155501.33,3649.0311,N,-12158.8416,W,1,03,00.5,054.1,M,-99.9,M,,*4b : Estimated North Bias at time = 906.00 : -104.84 : Estimated East Bias at time = 906.00 : -45.77 : Estimated Depth Bias at time = 906.00 : -1.31 : Estimated northing and easting = 4074970.54 : 590867.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155502.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=163.33 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155502.33,3649.0318,N,-12158.8421,W,1,03,00.5,054.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155503.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 908.997729 : TerrainNav update at dvl time = 908.997729 : _navData-> (x,y) = (4075079.03, 590910.74) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=163.85 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155503.33,3649.0324,N,-12158.8426,W,1,03,00.5,054.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155504.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155504.33,3649.0331,N,-12158.8430,W,1,03,00.5,054.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155505.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 909.00 : -105.24 : Estimated East Bias at time = 909.00 : -46.50 : Estimated Depth Bias at time = 909.00 : -1.31 : Estimated northing and easting = 4074973.79 : 590864.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=164.05 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155505.33,3649.0338,N,-12158.8435,W,1,03,00.5,054.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155506.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 911.997524 : TerrainNav update at dvl time = 911.997524 : _navData-> (x,y) = (4075082.70, 590908.62) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=165.82 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155506.33,3649.0344,N,-12158.8440,W,1,03,00.5,055.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155507.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155507.33,3649.0351,N,-12158.8444,W,1,03,00.5,054.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155508.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 912.00 : -105.76 : Estimated East Bias at time = 912.00 : -47.19 : Estimated Depth Bias at time = 912.00 : -1.31 : Estimated northing and easting = 4074976.93 : 590861.43 : LayeredControl _resolvedCommand - vertMode=2 vert=166.34 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155508.33,3649.0358,N,-12158.8449,W,1,03,00.5,054.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155509.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=166.36 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 914.997318 : TerrainNav update at dvl time = 914.997318 : _navData-> (x,y) = (4075086.37, 590906.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155509.33,3649.0364,N,-12158.8453,W,1,03,00.5,054.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155510.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=166.14 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155510.33,3649.0371,N,-12158.8458,W,1,03,00.5,054.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155511.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 915.00 : -106.24 : Estimated East Bias at time = 915.00 : -47.82 : Estimated Depth Bias at time = 915.00 : -1.31 : Estimated northing and easting = 4074980.13 : 590858.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155511.33,3649.0378,N,-12158.8462,W,1,03,00.5,054.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155512.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=166.91 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 917.997113 : TerrainNav update at dvl time = 917.997113 : _navData-> (x,y) = (4075090.01, 590904.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155512.33,3649.0384,N,-12158.8467,W,1,03,00.5,054.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155513.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=167.44 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155513.33,3649.0391,N,-12158.8471,W,1,03,00.5,054.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155514.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 918.00 : -106.65 : Estimated East Bias at time = 918.00 : -48.49 : Estimated Depth Bias at time = 918.00 : -1.31 : Estimated northing and easting = 4074983.36 : 590856.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155514.33,3649.0397,N,-12158.8476,W,1,03,00.5,053.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155515.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=167.49 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 920.996907 : TerrainNav update at dvl time = 920.996907 : _navData-> (x,y) = (4075093.65, 590902.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155515.33,3649.0404,N,-12158.8480,W,1,03,00.5,053.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155516.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=167.91 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155516.33,3649.0411,N,-12158.8485,W,1,03,00.5,054.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155517.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 921.00 : -107.10 : Estimated East Bias at time = 921.00 : -49.07 : Estimated Depth Bias at time = 921.00 : -1.31 : Estimated northing and easting = 4074986.56 : 590853.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=169.48 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155517.33,3649.0417,N,-12158.8489,W,1,03,00.5,054.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155518.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 923.996702 : TerrainNav update at dvl time = 923.996702 : _navData-> (x,y) = (4075097.31, 590900.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155518.33,3649.0424,N,-12158.8494,W,1,03,00.5,054.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155519.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.21 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155519.33,3649.0431,N,-12158.8498,W,1,03,00.5,054.7,M,-99.9,M,,*47 : Estimated North Bias at time = 924.00 : -107.41 : Estimated East Bias at time = 924.00 : -49.26 : Estimated Depth Bias at time = 924.00 : -1.31 : Estimated northing and easting = 4074989.90 : 590851.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155520.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=171.20 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155520.33,3649.0437,N,-12158.8502,W,1,03,00.5,054.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155521.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 926.996496 : TerrainNav update at dvl time = 926.996496 : _navData-> (x,y) = (4075101.03, 590898.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155521.33,3649.0444,N,-12158.8506,W,1,03,00.5,055.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155522.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=172.22 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155522.33,3649.0451,N,-12158.8510,W,1,03,00.5,055.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155523.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 927.00 : -107.42 : Estimated East Bias at time = 927.00 : -48.99 : Estimated Depth Bias at time = 927.00 : -1.31 : Estimated northing and easting = 4074993.61 : 590849.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=172.64 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155523.33,3649.0458,N,-12158.8514,W,1,03,00.5,055.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155524.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 929.996291 : TerrainNav update at dvl time = 929.996291 : _navData-> (x,y) = (4075104.78, 590896.67) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=172.96 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155524.33,3649.0464,N,-12158.8518,W,1,03,00.5,055.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155525.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155525.33,3649.0471,N,-12158.8522,W,1,03,00.5,055.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155526.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 930.00 : -107.57 : Estimated East Bias at time = 930.00 : -49.16 : Estimated Depth Bias at time = 930.00 : -1.31 : Estimated northing and easting = 4074997.21 : 590847.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=172.79 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155526.33,3649.0478,N,-12158.8526,W,1,03,00.5,055.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155527.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 932.996085 : TerrainNav update at dvl time = 932.996085 : _navData-> (x,y) = (4075108.52, 590894.79) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=172.92 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155527.33,3649.0485,N,-12158.8531,W,1,03,00.5,054.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155528.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155528.33,3649.0492,N,-12158.8535,W,1,03,00.5,054.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155529.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=173.76 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 933.00 : -107.56 : Estimated East Bias at time = 933.00 : -48.80 : Estimated Depth Bias at time = 933.00 : -1.31 : Estimated northing and easting = 4075000.97 : 590845.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155529.33,3649.0498,N,-12158.8539,W,1,03,00.5,054.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155530.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=174.46 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 935.995880 : TerrainNav update at dvl time = 935.995880 : _navData-> (x,y) = (4075112.25, 590892.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155530.33,3649.0505,N,-12158.8543,W,1,03,00.5,054.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155531.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=174.75 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155531.33,3649.0512,N,-12158.8548,W,1,03,00.5,054.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155532.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 936.00 : -107.69 : Estimated East Bias at time = 936.00 : -48.88 : Estimated Depth Bias at time = 936.00 : -1.31 : Estimated northing and easting = 4075004.56 : 590843.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155532.33,3649.0519,N,-12158.8552,W,1,03,00.5,054.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155533.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.03 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 938.995674 : TerrainNav update at dvl time = 938.995674 : _navData-> (x,y) = (4075115.96, 590890.99) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155533.33,3649.0525,N,-12158.8556,W,1,03,00.5,053.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155534.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.26 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155534.33,3649.0532,N,-12158.8560,W,1,03,00.5,053.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155535.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 939.00 : -107.71 : Estimated East Bias at time = 939.00 : -48.84 : Estimated Depth Bias at time = 939.00 : -1.31 : Estimated northing and easting = 4075008.24 : 590842.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155535.33,3649.0539,N,-12158.8563,W,1,03,00.5,054.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155536.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=176.84 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 941.995469 : TerrainNav update at dvl time = 941.995469 : _navData-> (x,y) = (4075119.67, 590889.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155536.33,3649.0545,N,-12158.8567,W,1,03,00.5,055.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155537.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=178.25 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155537.33,3649.0552,N,-12158.8571,W,1,03,00.5,053.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155538.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 942.00 : -107.65 : Estimated East Bias at time = 942.00 : -48.67 : Estimated Depth Bias at time = 942.00 : -1.31 : Estimated northing and easting = 4075012.02 : 590840.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=177.86 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155538.33,3649.0559,N,-12158.8575,W,1,03,00.5,054.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155539.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 944.995263 : TerrainNav update at dvl time = 944.995263 : _navData-> (x,y) = (4075123.39, 590887.36) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155539.33,3649.0566,N,-12158.8580,W,1,03,00.5,054.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155540.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=178.68 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155540.33,3649.0572,N,-12158.8584,W,1,03,00.5,053.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155541.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 945.00 : -107.57 : Estimated East Bias at time = 945.00 : -48.42 : Estimated Depth Bias at time = 945.00 : -1.30 : Estimated northing and easting = 4075015.82 : 590838.94 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=179.73 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155541.33,3649.0579,N,-12158.8588,W,1,03,00.5,054.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155542.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 947.995058 : TerrainNav update at dvl time = 947.995058 : _navData-> (x,y) = (4075127.11, 590885.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155542.33,3649.0586,N,-12158.8593,W,1,03,00.5,054.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155543.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=179.62 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155543.33,3649.0593,N,-12158.8597,W,1,03,00.5,053.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155544.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 948.00 : -107.39 : Estimated East Bias at time = 948.00 : -47.95 : Estimated Depth Bias at time = 948.00 : -1.30 : Estimated northing and easting = 4075019.72 : 590837.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=179.87 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155544.33,3649.0599,N,-12158.8602,W,1,03,00.5,054.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155545.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 950.994852 : TerrainNav update at dvl time = 950.994852 : _navData-> (x,y) = (4075130.77, 590883.27) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=180.74 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155545.33,3649.0606,N,-12158.8607,W,1,03,00.5,054.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155546.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155546.34,3649.0612,N,-12158.8611,W,1,03,00.5,054.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155547.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 950.99 : -107.25 : Estimated East Bias at time = 950.99 : -47.69 : Estimated Depth Bias at time = 950.99 : -1.30 : Estimated northing and easting = 4075023.53 : 590835.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=181.41 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155547.34,3649.0619,N,-12158.8616,W,1,03,00.5,054.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155548.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 953.994647 : TerrainNav update at dvl time = 953.994647 : _navData-> (x,y) = (4075134.40, 590881.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=182.56 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155548.34,3649.0625,N,-12158.8620,W,1,03,00.5,055.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155549.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155549.34,3649.0632,N,-12158.8625,W,1,03,00.5,054.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155550.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=182.38 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 953.99 : -107.36 : Estimated East Bias at time = 953.99 : -47.86 : Estimated Depth Bias at time = 953.99 : -1.30 : Estimated northing and easting = 4075027.04 : 590833.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155550.34,3649.0639,N,-12158.8629,W,1,03,00.5,054.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155551.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=183.38 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 956.994441 : TerrainNav update at dvl time = 956.994441 : _navData-> (x,y) = (4075138.00, 590879.16) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155551.34,3649.0645,N,-12158.8634,W,1,03,00.5,054.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155552.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=183.39 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155552.34,3649.0652,N,-12158.8638,W,1,03,00.5,054.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155553.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 956.99 : -107.49 : Estimated East Bias at time = 956.99 : -48.02 : Estimated Depth Bias at time = 956.99 : -1.30 : Estimated northing and easting = 4075030.50 : 590831.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155553.34,3649.0658,N,-12158.8643,W,1,03,00.5,054.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155554.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=184.07 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 959.994236 : TerrainNav update at dvl time = 959.994236 : _navData-> (x,y) = (4075141.59, 590877.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155554.34,3649.0665,N,-12158.8647,W,1,03,00.5,054.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155555.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=184.34 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155555.34,3649.0671,N,-12158.8652,W,1,03,00.5,054.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155556.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 959.99 : -107.74 : Estimated East Bias at time = 959.99 : -48.23 : Estimated Depth Bias at time = 959.99 : -1.30 : Estimated northing and easting = 4075033.85 : 590828.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155556.34,3649.0678,N,-12158.8657,W,1,03,00.5,053.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155557.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=184.88 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 962.994030 : TerrainNav update at dvl time = 962.994030 : _navData-> (x,y) = (4075145.17, 590875.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155557.34,3649.0684,N,-12158.8661,W,1,03,00.5,054.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155558.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=186.07 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155558.34,3649.0691,N,-12158.8666,W,1,03,00.5,054.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155559.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 962.99 : -107.88 : Estimated East Bias at time = 962.99 : -48.18 : Estimated Depth Bias at time = 962.99 : -1.30 : Estimated northing and easting = 4075037.29 : 590826.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=187.03 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155559.34,3649.0697,N,-12158.8671,W,1,03,00.5,054.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155600.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 965.993825 : TerrainNav update at dvl time = 965.993825 : _navData-> (x,y) = (4075148.75, 590872.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155600.34,3649.0704,N,-12158.8675,W,1,03,00.5,055.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155601.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=188.02 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155601.34,3649.0710,N,-12158.8680,W,1,03,00.5,055.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155602.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 965.99 : -108.00 : Estimated East Bias at time = 965.99 : -48.32 : Estimated Depth Bias at time = 965.99 : -1.30 : Estimated northing and easting = 4075040.75 : 590824.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=188.92 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155602.34,3649.0717,N,-12158.8684,W,1,03,00.5,055.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155603.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 968.993619 : TerrainNav update at dvl time = 968.993619 : _navData-> (x,y) = (4075152.40, 590870.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155603.34,3649.0723,N,-12158.8689,W,1,03,00.5,055.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155604.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=189.52 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155604.33,3649.0730,N,-12158.8693,W,1,03,00.5,055.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155605.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 968.99 : -108.25 : Estimated East Bias at time = 968.99 : -48.54 : Estimated Depth Bias at time = 968.99 : -1.30 : Estimated northing and easting = 4075044.16 : 590822.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=189.94 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155605.33,3649.0737,N,-12158.8697,W,1,03,00.5,055.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155606.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 971.993414 : TerrainNav update at dvl time = 971.993414 : _navData-> (x,y) = (4075156.10, 590868.91) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=190.58 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155606.33,3649.0744,N,-12158.8701,W,1,03,00.5,055.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155607.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155607.33,3649.0750,N,-12158.8705,W,1,03,00.5,055.7,M,-99.9,M,,*49 : Estimated North Bias at time = 971.99 : -108.17 : Estimated East Bias at time = 971.99 : -48.22 : Estimated Depth Bias at time = 971.99 : -1.30 : Estimated northing and easting = 4075047.93 : 590820.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155608.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=191.38 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155608.33,3649.0757,N,-12158.8710,W,1,03,00.5,054.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155609.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 974.993208 : TerrainNav update at dvl time = 974.993208 : _navData-> (x,y) = (4075159.80, 590867.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=191.41 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155609.33,3649.0764,N,-12158.8714,W,1,03,00.5,055.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155610.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155610.33,3649.0770,N,-12158.8718,W,1,03,00.5,054.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155611.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 974.99 : -108.59 : Estimated East Bias at time = 974.99 : -48.49 : Estimated Depth Bias at time = 974.99 : -1.30 : Estimated northing and easting = 4075051.21 : 590818.55 : LayeredControl _resolvedCommand - vertMode=2 vert=191.23 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155611.33,3649.0777,N,-12158.8722,W,1,03,00.5,053.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155612.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=192.53 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 978.003002 : TerrainNav update at dvl time = 978.003002 : _navData-> (x,y) = (4075163.50, 590865.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155612.33,3649.0784,N,-12158.8726,W,1,03,00.5,054.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155613.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=192.67 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155613.33,3649.0791,N,-12158.8730,W,1,03,00.5,054.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155614.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 978.00 : -109.03 : Estimated East Bias at time = 978.00 : -48.77 : Estimated Depth Bias at time = 978.00 : -1.30 : Estimated northing and easting = 4075054.47 : 590816.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155614.33,3649.0797,N,-12158.8734,W,1,03,00.5,055.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155615.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=193.25 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 981.002797 : TerrainNav update at dvl time = 981.002797 : _navData-> (x,y) = (4075167.21, 590863.36) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155615.33,3649.0804,N,-12158.8738,W,1,03,00.5,055.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155616.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.46 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155616.33,3649.0811,N,-12158.8742,W,1,03,00.5,055.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155617.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 981.00 : -109.37 : Estimated East Bias at time = 981.00 : -48.64 : Estimated Depth Bias at time = 981.00 : -1.30 : Estimated northing and easting = 4075057.84 : 590814.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155617.33,3649.0818,N,-12158.8746,W,1,03,00.5,056.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155618.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.94 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 984.002591 : TerrainNav update at dvl time = 984.002591 : _navData-> (x,y) = (4075170.94, 590861.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155618.33,3649.0824,N,-12158.8750,W,1,03,00.5,055.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155619.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=196.74 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155619.33,3649.0831,N,-12158.8754,W,1,03,00.5,056.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155620.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 984.00 : -110.02 : Estimated East Bias at time = 984.00 : -49.20 : Estimated Depth Bias at time = 984.00 : -1.30 : Estimated northing and easting = 4075060.92 : 590812.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=197.29 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155620.33,3649.0838,N,-12158.8758,W,1,03,00.5,056.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155621.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 987.002386 : TerrainNav update at dvl time = 987.002386 : _navData-> (x,y) = (4075174.72, 590859.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155621.33,3649.0845,N,-12158.8762,W,1,03,00.5,055.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155622.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=197.00 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155622.33,3649.0852,N,-12158.8766,W,1,03,00.5,055.3,M,-99.9,M,,*42 : Estimated North Bias at time = 987.00 : -110.59 : Estimated East Bias at time = 987.00 : -49.58 : Estimated Depth Bias at time = 987.00 : -1.30 : Estimated northing and easting = 4075064.13 : 590810.17 : AshtechGps::processRecord() - $GPGGA,155623.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=197.59 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155623.33,3649.0858,N,-12158.8770,W,1,03,00.5,055.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155624.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 990.002180 : TerrainNav update at dvl time = 990.002180 : _navData-> (x,y) = (4075178.46, 590857.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155624.33,3649.0865,N,-12158.8774,W,1,03,00.5,055.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155625.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=198.20 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155625.33,3649.0872,N,-12158.8778,W,1,03,00.5,054.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155626.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 990.00 : -111.19 : Estimated East Bias at time = 990.00 : -50.23 : Estimated Depth Bias at time = 990.00 : -1.30 : Estimated northing and easting = 4075067.28 : 590807.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=198.15 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155626.33,3649.0879,N,-12158.8782,W,1,03,00.5,054.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155627.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 993.001975 : TerrainNav update at dvl time = 993.001975 : _navData-> (x,y) = (4075182.17, 590856.10) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=197.80 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155627.33,3649.0885,N,-12158.8786,W,1,03,00.5,053.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155628.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155628.33,3649.0892,N,-12158.8790,W,1,03,00.5,053.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155629.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 993.00 : -111.82 : Estimated East Bias at time = 993.00 : -50.74 : Estimated Depth Bias at time = 993.00 : -1.30 : Estimated northing and easting = 4075070.35 : 590805.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=198.39 horzlMode=3 horz=5.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155629.33,3649.0899,N,-12158.8794,W,1,03,00.5,053.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155630.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4075185.4, 590854.0), reached at t = 1041.20 (wplog) : Vehicle Position is error is (-0.4, -0.3) : LayeredControl::execute() -- (t = 1041.198673) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 1041.198673) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1041.21 (wplog) The current location (N,E) = 4075185.8 , 590854.3 (wplog) The next waypoint = 4075108.8 , 590789.7 (wplog) The bearing to the next w.p. is 220.0 Degrees. : LayeredControl::execute() -- (t = 1041.208672) Behavior waypoint:-1 has changed to state Active : TerrainNav update at nav time = 996.001769 : TerrainNav update at dvl time = 996.001769 : _navData-> (x,y) = (4075185.84, 590854.27) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=199.54 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155630.33,3649.0905,N,-12158.8798,W,1,03,00.5,054.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155631.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155631.33,3649.0912,N,-12158.8802,W,1,03,00.5,055.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155632.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=200.92 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 996.00 : -112.34 : Estimated East Bias at time = 996.00 : -51.26 : Estimated Depth Bias at time = 996.00 : -1.30 : Estimated northing and easting = 4075073.50 : 590803.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155632.33,3649.0919,N,-12158.8806,W,1,03,00.5,055.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155633.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=201.19 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 999.001564 : TerrainNav update at dvl time = 999.001564 : _navData-> (x,y) = (4075189.50, 590852.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155633.33,3649.0925,N,-12158.8810,W,1,03,00.5,054.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155634.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=202.06 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155634.33,3649.0931,N,-12158.8815,W,1,03,00.5,055.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155635.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 999.00 : -113.26 : Estimated East Bias at time = 999.00 : -52.25 : Estimated Depth Bias at time = 999.00 : -1.30 : Estimated northing and easting = 4075076.24 : 590800.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155635.33,3649.0937,N,-12158.8821,W,1,03,00.5,056.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155636.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=203.95 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1002.001358 : TerrainNav update at dvl time = 1002.001358 : _navData-> (x,y) = (4075192.76, 590849.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155636.33,3649.0942,N,-12158.8827,W,1,03,00.5,056.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155637.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=206.18 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155637.33,3649.0947,N,-12158.8834,W,1,03,00.5,058.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155638.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1002.00 : -117.43 : Estimated East Bias at time = 1002.00 : -56.25 : Estimated Depth Bias at time = 1002.00 : -1.32 : Estimated northing and easting = 4075075.33 : 590793.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155638.33,3649.0950,N,-12158.8841,W,1,03,00.5,059.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155639.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=207.19 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1005.001153 : TerrainNav update at dvl time = 1005.001153 : _navData-> (x,y) = (4075194.86, 590846.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155639.33,3649.0953,N,-12158.8848,W,1,03,00.5,059.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155640.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=208.84 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1005.00 : -119.04 : Estimated East Bias at time = 1005.00 : -58.58 : Estimated Depth Bias at time = 1005.00 : -1.35 : Estimated northing and easting = 4075075.82 : 590788.29 : NMEA Update: $GPGGA,155640.33,3649.0954,N,-12158.8856,W,1,03,00.5,059.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155641.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=209.39 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155641.33,3649.0955,N,-12158.8863,W,1,03,00.5,060.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155642.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1008.000947 : TerrainNav update at dvl time = 1008.000947 : _navData-> (x,y) = (4075195.24, 590843.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155642.33,3649.0953,N,-12158.8870,W,1,03,00.5,061.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155643.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=211.13 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155643.33,3649.0951,N,-12158.8876,W,1,03,00.5,062.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155644.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1008.00 : -116.09 : Estimated East Bias at time = 1008.00 : -58.29 : Estimated Depth Bias at time = 1008.00 : -1.43 : Estimated northing and easting = 4075079.15 : 590785.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=212.78 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155644.33,3649.0948,N,-12158.8882,W,1,03,00.5,062.8,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155645.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1011.000741 : TerrainNav update at dvl time = 1011.000741 : _navData-> (x,y) = (4075193.74, 590841.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155645.33,3649.0945,N,-12158.8886,W,1,03,00.5,061.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155646.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=212.27 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155646.33,3649.0940,N,-12158.8889,W,1,03,00.5,063.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155647.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1011.00 : -113.74 : Estimated East Bias at time = 1011.00 : -58.44 : Estimated Depth Bias at time = 1011.00 : -1.48 : Estimated northing and easting = 4075080.00 : 590782.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=214.48 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155647.33,3649.0935,N,-12158.8891,W,1,03,00.5,063.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155648.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1014.000536 : TerrainNav update at dvl time = 1014.000536 : _navData-> (x,y) = (4075191.20, 590839.94) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=215.93 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155648.33,3649.0930,N,-12158.8892,W,1,03,00.5,064.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155649.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1014.00 : -112.71 : Estimated East Bias at time = 1014.00 : -59.61 : Estimated Depth Bias at time = 1014.00 : -1.49 : Estimated northing and easting = 4075078.50 : 590780.33 : NMEA Update: $GPGGA,155649.33,3649.0925,N,-12158.8892,W,1,03,00.5,065.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155650.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=217.06 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155650.33,3649.0920,N,-12158.8892,W,1,03,00.5,065.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155651.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1017.000331 : TerrainNav update at dvl time = 1017.000331 : _navData-> (x,y) = (4075188.28, 590840.00) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=216.59 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155651.33,3649.0914,N,-12158.8892,W,1,03,00.5,063.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155652.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155652.33,3649.0909,N,-12158.8891,W,1,03,00.5,061.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1017.00 : -112.18 : Estimated East Bias at time = 1017.00 : -61.09 : Estimated Depth Bias at time = 1017.00 : -1.50 : Estimated northing and easting = 4075076.09 : 590778.91 : AshtechGps::processRecord() - $GPGGA,155653.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=215.16 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155653.33,3649.0903,N,-12158.8891,W,1,03,00.5,061.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155654.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=213.66 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1020.000125 : TerrainNav update at dvl time = 1020.000125 : _navData-> (x,y) = (4075185.17, 590840.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155654.33,3649.0897,N,-12158.8891,W,1,03,00.5,059.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155655.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1020.00 : -112.06 : Estimated East Bias at time = 1020.00 : -61.82 : Estimated Depth Bias at time = 1020.00 : -1.50 : Estimated northing and easting = 4075073.12 : 590778.40 : LayeredControl _resolvedCommand - vertMode=2 vert=212.78 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155655.33,3649.0891,N,-12158.8891,W,1,03,00.5,058.1,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155656.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155656.33,3649.0885,N,-12158.8891,W,1,03,00.5,056.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155657.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=211.98 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1022.999920 : TerrainNav update at dvl time = 1022.999920 : _navData-> (x,y) = (4075181.79, 590840.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155657.33,3649.0879,N,-12158.8892,W,1,03,00.5,055.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155658.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=211.33 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1023.00 : -111.97 : Estimated East Bias at time = 1023.00 : -62.06 : Estimated Depth Bias at time = 1023.00 : -1.50 : Estimated northing and easting = 4075069.82 : 590777.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155658.33,3649.0873,N,-12158.8894,W,1,03,00.5,055.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155659.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155659.33,3649.0866,N,-12158.8895,W,1,03,00.5,054.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155700.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=212.05 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1025.999714 : TerrainNav update at dvl time = 1025.999714 : _navData-> (x,y) = (4075178.29, 590839.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155700.33,3649.0860,N,-12158.8896,W,1,03,00.5,055.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155701.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=212.24 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1026.00 : -111.80 : Estimated East Bias at time = 1026.00 : -62.36 : Estimated Depth Bias at time = 1026.00 : -1.50 : Estimated northing and easting = 4075066.48 : 590777.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155701.33,3649.0853,N,-12158.8898,W,1,03,00.5,054.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155702.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=212.60 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155702.33,3649.0847,N,-12158.8900,W,1,03,00.5,054.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155703.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1028.999509 : TerrainNav update at dvl time = 1028.999509 : _navData-> (x,y) = (4075174.58, 590838.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155703.33,3649.0840,N,-12158.8902,W,1,03,00.5,053.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155704.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=211.78 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1029.00 : -111.75 : Estimated East Bias at time = 1029.00 : -62.56 : Estimated Depth Bias at time = 1029.00 : -1.50 : Estimated northing and easting = 4075062.83 : 590776.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155704.33,3649.0833,N,-12158.8904,W,1,03,00.5,052.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155705.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=211.62 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155705.33,3649.0826,N,-12158.8905,W,1,03,00.5,051.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155706.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1031.999303 : TerrainNav update at dvl time = 1031.999303 : _navData-> (x,y) = (4075170.70, 590837.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155706.33,3649.0819,N,-12158.8908,W,1,03,00.5,050.9,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155707.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=211.15 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1032.00 : -111.77 : Estimated East Bias at time = 1032.00 : -62.59 : Estimated Depth Bias at time = 1032.00 : -1.50 : Estimated northing and easting = 4075058.93 : 590775.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155707.33,3649.0811,N,-12158.8910,W,1,03,00.5,049.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155708.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=210.84 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155708.33,3649.0804,N,-12158.8912,W,1,03,00.5,049.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155709.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1034.999098 : TerrainNav update at dvl time = 1034.999098 : _navData-> (x,y) = (4075166.73, 590836.88) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=209.74 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155709.33,3649.0797,N,-12158.8916,W,1,03,00.5,048.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155710.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1035.00 : -112.24 : Estimated East Bias at time = 1035.00 : -62.44 : Estimated Depth Bias at time = 1035.00 : -1.50 : Estimated northing and easting = 4075054.50 : 590774.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155710.33,3649.0790,N,-12158.8919,W,1,03,00.5,048.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155711.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=209.10 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155711.33,3649.0783,N,-12158.8923,W,1,03,00.5,047.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155712.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1037.998892 : TerrainNav update at dvl time = 1037.998892 : _navData-> (x,y) = (4075162.66, 590835.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=209.18 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155712.33,3649.0776,N,-12158.8927,W,1,03,00.5,046.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155713.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1038.00 : -112.34 : Estimated East Bias at time = 1038.00 : -61.91 : Estimated Depth Bias at time = 1038.00 : -1.49 : Estimated northing and easting = 4075050.32 : 590773.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155713.33,3649.0769,N,-12158.8931,W,1,03,00.5,046.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155714.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=209.22 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155714.33,3649.0762,N,-12158.8935,W,1,03,00.5,047.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155715.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=209.52 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1040.998687 : TerrainNav update at dvl time = 1040.998687 : _navData-> (x,y) = (4075158.76, 590833.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155715.33,3649.0755,N,-12158.8939,W,1,03,00.5,047.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155716.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1041.00 : -113.01 : Estimated East Bias at time = 1041.00 : -61.29 : Estimated Depth Bias at time = 1041.00 : -1.49 : Estimated northing and easting = 4075045.75 : 590772.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=212.68 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155716.33,3649.0748,N,-12158.8944,W,1,03,00.5,050.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155717.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155717.33,3649.0741,N,-12158.8949,W,1,03,00.5,050.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155718.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=212.75 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1043.998481 : TerrainNav update at dvl time = 1043.998481 : _navData-> (x,y) = (4075154.96, 590831.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155718.33,3649.0734,N,-12158.8954,W,1,03,00.5,050.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155719.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=212.85 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1044.00 : -113.76 : Estimated East Bias at time = 1044.00 : -60.46 : Estimated Depth Bias at time = 1044.00 : -1.49 : Estimated northing and easting = 4075041.21 : 590770.99 : NMEA Update: $GPGGA,155719.33,3649.0728,N,-12158.8959,W,1,03,00.5,051.7,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155720.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155720.33,3649.0721,N,-12158.8964,W,1,03,00.5,051.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155721.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=213.59 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1046.998276 : TerrainNav update at dvl time = 1046.998276 : _navData-> (x,y) = (4075151.27, 590829.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155721.33,3649.0714,N,-12158.8970,W,1,03,00.5,050.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155722.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=213.15 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1047.00 : -114.51 : Estimated East Bias at time = 1047.00 : -59.76 : Estimated Depth Bias at time = 1047.00 : -1.49 : Estimated northing and easting = 4075036.76 : 590769.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155722.33,3649.0708,N,-12158.8975,W,1,03,00.5,051.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155723.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=212.34 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155723.33,3649.0701,N,-12158.8981,W,1,03,00.5,051.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155724.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1049.998070 : TerrainNav update at dvl time = 1049.998070 : _navData-> (x,y) = (4075147.60, 590826.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155724.33,3649.0695,N,-12158.8987,W,1,03,00.5,051.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155725.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=209.41 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1050.00 : -115.30 : Estimated East Bias at time = 1050.00 : -59.00 : Estimated Depth Bias at time = 1050.00 : -1.49 : Estimated northing and easting = 4075032.30 : 590767.69 : NMEA Update: $GPGGA,155725.33,3649.0688,N,-12158.8993,W,1,03,00.5,049.1,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155726.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=209.66 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155726.33,3649.0682,N,-12158.8999,W,1,03,00.5,048.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155727.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1052.997864 : TerrainNav update at dvl time = 1052.997864 : _navData-> (x,y) = (4075144.05, 590824.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155727.33,3649.0676,N,-12158.9005,W,1,03,00.5,048.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155728.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=209.69 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1053.00 : -116.21 : Estimated East Bias at time = 1053.00 : -57.94 : Estimated Depth Bias at time = 1053.00 : -1.50 : Estimated northing and easting = 4075027.84 : 590766.08 : NMEA Update: $GPGGA,155728.33,3649.0670,N,-12158.9011,W,1,03,00.5,047.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155729.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=209.16 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155729.33,3649.0664,N,-12158.9018,W,1,03,00.5,048.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155730.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1055.997659 : TerrainNav update at dvl time = 1055.997659 : _navData-> (x,y) = (4075140.72, 590821.23) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=209.89 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155730.33,3649.0658,N,-12158.9024,W,1,03,00.5,048.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155731.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1056.00 : -117.12 : Estimated East Bias at time = 1056.00 : -56.77 : Estimated Depth Bias at time = 1056.00 : -1.50 : Estimated northing and easting = 4075023.61 : 590764.46 : NMEA Update: $GPGGA,155731.33,3649.0652,N,-12158.9031,W,1,03,00.5,048.6,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155732.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=210.54 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155732.33,3649.0646,N,-12158.9037,W,1,03,00.5,049.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155733.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1058.997454 : TerrainNav update at dvl time = 1058.997454 : _navData-> (x,y) = (4075137.43, 590818.34) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=210.95 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155733.33,3649.0640,N,-12158.9044,W,1,03,00.5,048.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155734.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1059.00 : -117.70 : Estimated East Bias at time = 1059.00 : -55.85 : Estimated Depth Bias at time = 1059.00 : -1.50 : Estimated northing and easting = 4075019.73 : 590762.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155734.33,3649.0635,N,-12158.9051,W,1,03,00.5,049.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155735.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=211.95 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155735.33,3649.0629,N,-12158.9058,W,1,03,00.5,050.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155736.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=213.73 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1061.997248 : TerrainNav update at dvl time = 1061.997248 : _navData-> (x,y) = (4075134.29, 590815.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155736.33,3649.0624,N,-12158.9065,W,1,03,00.5,052.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155737.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1062.00 : -118.84 : Estimated East Bias at time = 1062.00 : -54.98 : Estimated Depth Bias at time = 1062.00 : -1.50 : Estimated northing and easting = 4075015.45 : 590760.25 : LayeredControl _resolvedCommand - vertMode=2 vert=214.55 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155737.33,3649.0619,N,-12158.9073,W,1,03,00.5,051.9,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155738.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155738.33,3649.0613,N,-12158.9080,W,1,03,00.5,052.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155739.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=214.78 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1064.997043 : TerrainNav update at dvl time = 1064.997043 : _navData-> (x,y) = (4075131.28, 590811.99) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155739.33,3649.0608,N,-12158.9087,W,1,03,00.5,053.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155740.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=215.15 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1065.00 : -119.86 : Estimated East Bias at time = 1065.00 : -55.45 : Estimated Depth Bias at time = 1065.00 : -1.50 : Estimated northing and easting = 4075011.42 : 590756.54 : NMEA Update: $GPGGA,155740.33,3649.0602,N,-12158.9095,W,1,03,00.5,053.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155741.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155741.33,3649.0597,N,-12158.9102,W,1,03,00.5,052.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155742.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=214.78 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1067.996837 : TerrainNav update at dvl time = 1067.996837 : _navData-> (x,y) = (4075128.16, 590808.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155742.33,3649.0591,N,-12158.9109,W,1,03,00.5,049.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155743.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=212.03 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155743.33,3649.0585,N,-12158.9116,W,1,03,00.5,049.7,M,-99.9,M,,*4a : Estimated North Bias at time = 1068.00 : -120.90 : Estimated East Bias at time = 1068.00 : -55.26 : Estimated Depth Bias at time = 1068.00 : -1.50 : Estimated northing and easting = 4075007.26 : 590753.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155744.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=211.19 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155744.33,3649.0580,N,-12158.9123,W,1,03,00.5,048.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155745.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1070.996632 : TerrainNav update at dvl time = 1070.996632 : _navData-> (x,y) = (4075125.01, 590805.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155745.33,3649.0574,N,-12158.9130,W,1,03,00.5,051.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155746.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=213.96 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1071.00 : -121.67 : Estimated East Bias at time = 1071.00 : -54.65 : Estimated Depth Bias at time = 1071.00 : -1.50 : Estimated northing and easting = 4075003.34 : 590751.06 : NMEA Update: $GPGGA,155746.33,3649.0569,N,-12158.9137,W,1,03,00.5,051.1,M,-99.9,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155747.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=214.30 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155747.33,3649.0564,N,-12158.9144,W,1,03,00.5,051.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155748.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1073.996426 : TerrainNav update at dvl time = 1073.996426 : _navData-> (x,y) = (4075122.03, 590802.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155748.33,3649.0558,N,-12158.9151,W,1,03,00.5,051.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155749.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=215.88 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155749.33,3649.0553,N,-12158.9158,W,1,03,00.5,049.3,M,-99.9,M,,*45 : Estimated North Bias at time = 1074.00 : -122.40 : Estimated East Bias at time = 1074.00 : -54.16 : Estimated Depth Bias at time = 1074.00 : -1.50 : Estimated northing and easting = 4074999.62 : 590748.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155750.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=214.02 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155750.33,3649.0548,N,-12158.9165,W,1,03,00.5,049.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155751.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1076.996221 : TerrainNav update at dvl time = 1076.996221 : _navData-> (x,y) = (4075118.97, 590799.37) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=215.33 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155751.33,3649.0542,N,-12158.9173,W,1,03,00.5,050.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155752.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1077.00 : -122.83 : Estimated East Bias at time = 1077.00 : -53.70 : Estimated Depth Bias at time = 1077.00 : -1.50 : Estimated northing and easting = 4074996.14 : 590745.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155752.33,3649.0537,N,-12158.9180,W,1,03,00.5,050.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155753.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.38 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155753.33,3649.0531,N,-12158.9187,W,1,03,00.5,053.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155754.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1079.996015 : TerrainNav update at dvl time = 1079.996015 : _navData-> (x,y) = (4075115.96, 590796.18) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=218.03 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155754.33,3649.0526,N,-12158.9195,W,1,03,00.5,052.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155755.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1080.00 : -123.73 : Estimated East Bias at time = 1080.00 : -53.87 : Estimated Depth Bias at time = 1080.00 : -1.50 : Estimated northing and easting = 4074992.23 : 590742.31 : NMEA Update: $GPGGA,155755.33,3649.0521,N,-12158.9202,W,1,03,00.5,054.0,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155756.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=219.34 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155756.33,3649.0515,N,-12158.9209,W,1,03,00.5,053.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155757.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=218.64 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1082.995810 : TerrainNav update at dvl time = 1082.995810 : _navData-> (x,y) = (4075112.93, 590793.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155757.33,3649.0510,N,-12158.9216,W,1,03,00.5,053.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155758.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1083.00 : -124.46 : Estimated East Bias at time = 1083.00 : -53.67 : Estimated Depth Bias at time = 1083.00 : -1.50 : Estimated northing and easting = 4074988.47 : 590739.37 : LayeredControl _resolvedCommand - vertMode=2 vert=218.81 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,155758.33,3649.0504,N,-12158.9223,W,1,03,00.5,053.4,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155759.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155759.33,3649.0498,N,-12158.9230,W,1,03,00.5,050.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155800.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.56 horzlMode=3 horz=3.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1085.995604 : TerrainNav update at dvl time = 1085.995604 : _navData-> (x,y) = (4075109.77, 590790.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155800.33,3649.0493,N,-12158.9236,W,1,03,00.5,051.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155801.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4075108.8, 590789.7), reached at t = 1131.99 (wplog) : Vehicle Position is error is (-0.1, 0.5) : LayeredControl::execute() -- (t = 1131.992453) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 1132.002452) Behavior acousticUpdate:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 1132.00 (wplog) The current location (N,E) = 4075108.9 , 590789.2 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 219.9 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 1132.0 with dtw = 10000.00 : LayeredControl::execute() -- (t = 1132.002452) Behavior waypoint_homing:-1 has changed to state Active : SonardyneDriver:: New transponder interrogation address is POS V4,5 : SonardyneDriver::Start : LayeredControl _resolvedCommand - vertMode=2 vert=216.71 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155801.33,3649.0487,N,-12158.9243,W,1,03,00.5,050.9,M,-99.9,M,,*45 : Estimated North Bias at time = 1086.00 : -125.04 : Estimated East Bias at time = 1086.00 : -53.43 : Estimated Depth Bias at time = 1086.00 : -1.50 : Estimated northing and easting = 4074984.73 : 590736.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155802.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155802.33,3649.0482,N,-12158.9249,W,1,03,00.5,052.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155803.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=218.52 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1088.995399 : TerrainNav update at dvl time = 1088.995399 : _navData-> (x,y) = (4075106.66, 590787.12) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155803.33,3649.0476,N,-12158.9256,W,1,03,00.5,051.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155804.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=218.55 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155804.33,3649.0471,N,-12158.9262,W,1,03,00.5,049.1,M,-99.9,M,,*4a : Estimated North Bias at time = 1089.00 : -125.62 : Estimated East Bias at time = 1089.00 : -53.27 : Estimated Depth Bias at time = 1089.00 : -1.50 : Estimated northing and easting = 4074981.05 : 590733.85 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155805.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.84 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155805.33,3649.0465,N,-12158.9269,W,1,03,00.5,049.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155806.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1091.995193 : TerrainNav update at dvl time = 1091.995193 : _navData-> (x,y) = (4075103.69, 590784.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155806.33,3649.0460,N,-12158.9275,W,1,03,00.5,050.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155807.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=217.67 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : Estimated North Bias at time = 1092.00 : -126.16 : Estimated East Bias at time = 1092.00 : -53.03 : Estimated Depth Bias at time = 1092.00 : -1.50 : Estimated northing and easting = 4074977.53 : 590731.31 : NMEA Update: $GPGGA,155807.33,3649.0456,N,-12158.9281,W,1,03,00.5,050.0,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155808.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=218.56 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155808.33,3649.0451,N,-12158.9286,W,1,03,00.5,050.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155809.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1094.994987 : TerrainNav update at dvl time = 1094.994987 : _navData-> (x,y) = (4075100.98, 590781.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155809.33,3649.0446,N,-12158.9292,W,1,03,00.5,050.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155810.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=218.49 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : Estimated North Bias at time = 1094.99 : -126.71 : Estimated East Bias at time = 1094.99 : -53.00 : NMEA Update: $GPGGA,155810.33,3649.0441,N,-12158.9298,W,1,03,00.5,050.7,M,-99.9,M,,*47 : Estimated Depth Bias at time = 1094.99 : -1.50 : Estimated northing and easting = 4074974.27 : 590728.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155811.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=220.01 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155811.33,3649.0437,N,-12158.9303,W,1,03,00.5,051.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155812.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1097.994782 : TerrainNav update at dvl time = 1097.994782 : _navData-> (x,y) = (4075098.47, 590779.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=221.25 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155812.34,3649.0433,N,-12158.9308,W,1,03,00.5,052.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155813.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155813.34,3649.0429,N,-12158.9314,W,1,03,00.5,053.3,M,-99.9,M,,*4f : Estimated North Bias at time = 1097.99 : -127.24 : Estimated East Bias at time = 1097.99 : -53.04 : Estimated Depth Bias at time = 1097.99 : -1.50 : Estimated northing and easting = 4074971.23 : 590726.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155814.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.35 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155814.34,3649.0424,N,-12158.9319,W,1,03,00.5,053.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155815.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1100.994577 : TerrainNav update at dvl time = 1100.994577 : _navData-> (x,y) = (4075096.15, 590777.03) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=222.76 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155815.34,3649.0420,N,-12158.9324,W,1,03,00.5,053.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155816.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1100.99 : -127.74 : Estimated East Bias at time = 1100.99 : -52.96 : Estimated Depth Bias at time = 1100.99 : -1.51 : Estimated northing and easting = 4074968.41 : 590724.07 : NMEA Update: $GPGGA,155816.34,3649.0416,N,-12158.9329,W,1,03,00.5,053.4,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155817.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=222.77 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155817.34,3649.0412,N,-12158.9334,W,1,03,00.5,052.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155818.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=221.74 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1103.994371 : TerrainNav update at dvl time = 1103.994371 : _navData-> (x,y) = (4075093.83, 590774.88) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 1149.40 Seconds. : The vehicle position is (4075093.7, 590774.7) : NMEA Update: $GPGGA,155818.34,3649.0408,N,-12158.9338,W,1,03,00.5,052.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155819.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1150.60 Seconds. : The vehicle position is is (4075092.7, 590774.0) : LayeredControl _resolvedCommand - vertMode=2 vert=221.10 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155819.34,3649.0404,N,-12158.9343,W,1,03,00.5,051.5,M,-99.9,M,,*4c : Estimated North Bias at time = 1103.99 : -128.15 : Estimated East Bias at time = 1103.99 : -52.92 : Estimated Depth Bias at time = 1103.99 : -1.51 : Estimated northing and easting = 4074965.68 : 590721.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155820.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155820.34,3649.0400,N,-12158.9347,W,1,03,00.5,052.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155821.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=221.75 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1106.994166 : TerrainNav update at dvl time = 1106.994166 : _navData-> (x,y) = (4075091.59, 590772.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155821.34,3649.0396,N,-12158.9351,W,1,03,00.5,050.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155822.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.07 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : Estimated North Bias at time = 1106.99 : -128.53 : NMEA Update: $GPGGA,155822.34,3649.0392,N,-12158.9355,W,1,03,00.5,053.0,M,-99.9,M,,*4c : Estimated East Bias at time = 1106.99 : -52.85 : Estimated Depth Bias at time = 1106.99 : -1.51 : Estimated northing and easting = 4074963.06 : 590720.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155823.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155823.34,3649.0389,N,-12158.9359,W,1,03,00.5,053.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155824.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.82 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1109.993960 : TerrainNav update at dvl time = 1109.993960 : _navData-> (x,y) = (4075089.49, 590771.22) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155824.34,3649.0385,N,-12158.9363,W,1,03,00.5,053.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155825.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=224.55 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155825.34,3649.0381,N,-12158.9367,W,1,03,00.5,053.9,M,-99.9,M,,*41 : Estimated North Bias at time = 1109.99 : -128.87 : Estimated East Bias at time = 1109.99 : -52.82 : Estimated Depth Bias at time = 1109.99 : -1.51 : Estimated northing and easting = 4074960.62 : 590718.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155826.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=221.75 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155826.34,3649.0377,N,-12158.9371,W,1,03,00.5,050.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155827.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1112.993755 : TerrainNav update at dvl time = 1112.993755 : _navData-> (x,y) = (4075087.39, 590769.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155827.34,3649.0374,N,-12158.9374,W,1,03,00.5,050.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155828.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=221.90 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155828.34,3649.0370,N,-12158.9378,W,1,03,00.5,051.4,M,-99.9,M,,*43 : Estimated North Bias at time = 1112.99 : -129.13 : Estimated East Bias at time = 1112.99 : -52.66 : Estimated Depth Bias at time = 1112.99 : -1.52 : Estimated northing and easting = 4074958.26 : 590716.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155829.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.18 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155829.34,3649.0366,N,-12158.9382,W,1,03,00.5,054.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155830.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1115.993549 : TerrainNav update at dvl time = 1115.993549 : _navData-> (x,y) = (4075085.33, 590767.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155830.33,3649.0363,N,-12158.9386,W,1,03,00.5,054.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155831.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.77 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1162.00 Seconds. : The vehicle position is (4075084.8, 590767.5) : NMEA Update: $GPGGA,155831.33,3649.0359,N,-12158.9390,W,1,03,00.5,051.7,M,-99.9,M,,*42 : Estimated North Bias at time = 1115.99 : -129.20 : Estimated East Bias at time = 1115.99 : -52.66 : Estimated Depth Bias at time = 1115.99 : -1.53 : Estimated northing and easting = 4074956.13 : 590715.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155832.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1163.20 Seconds. : The vehicle position is is (4075083.9, 590766.8) : LayeredControl _resolvedCommand - vertMode=2 vert=223.56 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155832.33,3649.0355,N,-12158.9393,W,1,03,00.5,052.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155833.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1164.20 Seconds. : The vehicle position is (4075083.2, 590766.2) : TerrainNav update at nav time = 1118.993344 : TerrainNav update at dvl time = 1118.993344 : _navData-> (x,y) = (4075083.19, 590766.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=223.70 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155833.33,3649.0351,N,-12158.9397,W,1,03,00.5,051.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155834.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1118.99 : -128.98 : Estimated East Bias at time = 1118.99 : -52.75 : Estimated Depth Bias at time = 1118.99 : -1.54 : Estimated northing and easting = 4074954.20 : 590713.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155834.33,3649.0347,N,-12158.9401,W,1,03,00.5,051.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155835.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.84 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155835.33,3649.0343,N,-12158.9404,W,1,03,00.5,052.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155836.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1121.993138 : TerrainNav update at dvl time = 1121.993138 : _navData-> (x,y) = (4075081.03, 590764.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=223.90 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155836.33,3649.0340,N,-12158.9408,W,1,03,00.5,052.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155837.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155837.33,3649.0336,N,-12158.9412,W,1,03,00.5,050.8,M,-99.9,M,,*4e : Estimated North Bias at time = 1121.99 : -129.19 : Estimated East Bias at time = 1121.99 : -52.87 : Estimated Depth Bias at time = 1121.99 : -1.55 : Estimated northing and easting = 4074951.84 : 590711.74 : AshtechGps::processRecord() - $GPGGA,155838.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=224.80 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1169.60 Seconds. : The vehicle position is is (4075079.4, 590763.2) : NMEA Update: $GPGGA,155838.33,3649.0332,N,-12158.9416,W,1,03,00.5,050.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155839.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=224.88 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1125.002932 : TerrainNav update at dvl time = 1125.002932 : _navData-> (x,y) = (4075079.02, 590762.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155839.33,3649.0329,N,-12158.9420,W,1,03,00.5,052.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155840.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=223.72 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155840.33,3649.0326,N,-12158.9425,W,1,03,00.5,050.9,M,-99.9,M,,*4a : Estimated North Bias at time = 1125.00 : -129.39 : Estimated East Bias at time = 1125.00 : -52.73 : Estimated Depth Bias at time = 1125.00 : -1.56 : Estimated northing and easting = 4074949.63 : 590710.12 : AshtechGps::processRecord() - $GPGGA,155841.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155841.33,3649.0323,N,-12158.9430,W,1,03,00.5,051.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155842.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.05 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1128.002726 : TerrainNav update at dvl time = 1128.002726 : _navData-> (x,y) = (4075077.46, 590760.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155842.33,3649.0321,N,-12158.9435,W,1,03,00.5,051.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155843.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1173.80 Seconds. : The vehicle position is (4075077.2, 590760.3) : LayeredControl _resolvedCommand - vertMode=2 vert=225.12 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155843.33,3649.0319,N,-12158.9440,W,1,03,00.5,051.9,M,-99.9,M,,*47 : Estimated North Bias at time = 1128.00 : -130.03 : Estimated East Bias at time = 1128.00 : -52.35 : Estimated Depth Bias at time = 1128.00 : -1.56 : Estimated northing and easting = 4074947.43 : 590708.44 : AshtechGps::processRecord() - $GPGGA,155844.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155844.33,3649.0317,N,-12158.9445,W,1,03,00.5,052.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155845.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.51 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1176.00 Seconds. : The vehicle position is is (4075076.4, 590758.7) : TerrainNav update at nav time = 1131.002521 : TerrainNav update at dvl time = 1131.002521 : _navData-> (x,y) = (4075076.36, 590758.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155845.33,3649.0315,N,-12158.9450,W,1,03,00.5,052.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155846.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=225.56 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : Estimated North Bias at time = 1131.00 : -130.70 : Estimated East Bias at time = 1131.00 : -52.13 : NMEA Update: $GPGGA,155846.33,3649.0313,N,-12158.9455,W,1,03,00.5,052.1,M,-99.9,M,,*47 : Estimated Depth Bias at time = 1131.00 : -1.56 : Estimated northing and easting = 4074945.67 : 590706.38 : AshtechGps::processRecord() - $GPGGA,155847.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=225.82 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155847.33,3649.0311,N,-12158.9460,W,1,03,00.5,052.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155848.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1134.002316 : TerrainNav update at dvl time = 1134.002316 : _navData-> (x,y) = (4075075.24, 590756.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155848.33,3649.0309,N,-12158.9465,W,1,03,00.5,054.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155849.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=227.51 horzlMode=3 horz=3.84 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1180.20 Seconds. : The vehicle position is (4075074.8, 590755.5) : NMEA Update: $GPGGA,155849.33,3649.0307,N,-12158.9470,W,1,03,00.5,053.1,M,-99.9,M,,*4b : Estimated North Bias at time = 1134.00 : -130.98 : Estimated East Bias at time = 1134.00 : -52.12 : Estimated Depth Bias at time = 1134.00 : -1.56 : Estimated northing and easting = 4074944.26 : 590704.13 : AshtechGps::processRecord() - $GPGGA,155850.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=227.74 horzlMode=2 horz=3.84 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155850.33,3649.0304,N,-12158.9474,W,1,03,00.5,053.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,155851.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1137.002110 : TerrainNav update at dvl time = 1137.002110 : _navData-> (x,y) = (4075073.73, 590754.30) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1182.40 Seconds. : The vehicle position is is (4075073.6, 590754.2) : NMEA Update: $GPGGA,155851.33,3649.0301,N,-12158.9478,W,1,03,00.5,054.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155852.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4074955.6, 590661.2), reached at t = 1182.80 (wplog) : Vehicle Position error is (-117.8, -92.8) : The projected distance to the waypoint is 149.9. : The usbl range to the waypoint is 62.8. : LayeredControl::execute() -- (t = 1182.798973) Behavior waypoint_homing:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 1182.808972) Behavior acousticUpdate:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 1182.81 (wplog) The current location (N,E) = 4075073.4 , 590754.0 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 218.2 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 1182.8 with dtw = 10000.00 : LayeredControl::execute() -- (t = 1182.808972) Behavior waypoint_homing:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=228.15 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : SonardyneDriver::Stop : NMEA Update: $GPGGA,155852.33,3649.0298,N,-12158.9482,W,1,03,00.5,056.5,M,-99.9,M,,*4a : SonardyneDriver:: New transponder interrogation address is POS V4,5 : SonardyneDriver::Start : Estimated North Bias at time = 1137.00 : -130.87 : Estimated East Bias at time = 1137.00 : -52.43 : Estimated Depth Bias at time = 1137.00 : -1.56 : Estimated northing and easting = 4074942.85 : 590701.87 : AshtechGps::processRecord() - $GPGGA,155853.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=230.27 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1184.40 Seconds. : The vehicle position is (4075072.4, 590753.1) : NMEA Update: $GPGGA,155853.33,3649.0294,N,-12158.9485,W,1,03,00.5,056.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155854.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1140.001904 : TerrainNav update at dvl time = 1140.001904 : _navData-> (x,y) = (4075071.93, 590752.74) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=230.73 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155854.33,3649.0291,N,-12158.9488,W,1,03,00.5,056.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155855.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155855.33,3649.0288,N,-12158.9491,W,1,03,00.5,056.1,M,-99.9,M,,*4a : Estimated North Bias at time = 1140.00 : -130.79 : Estimated East Bias at time = 1140.00 : -52.87 : Estimated Depth Bias at time = 1140.00 : -1.56 : Estimated northing and easting = 4074941.14 : 590699.87 : AshtechGps::processRecord() - $GPGGA,155856.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=230.31 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155856.33,3649.0284,N,-12158.9494,W,1,03,00.5,055.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155857.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 1188.00 Seconds. : The vehicle position is is (4075070.2, 590751.5) : TerrainNav update at nav time = 1143.001699 : TerrainNav update at dvl time = 1143.001699 : _navData-> (x,y) = (4075070.04, 590751.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=230.01 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155857.33,3649.0281,N,-12158.9497,W,1,03,00.5,054.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155858.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155858.33,3649.0278,N,-12158.9501,W,1,03,00.5,054.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155859.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1143.00 : -130.61 : Estimated East Bias at time = 1143.00 : -53.25 : Estimated Depth Bias at time = 1143.00 : -1.56 : Estimated northing and easting = 4074939.43 : 590698.15 : LayeredControl _resolvedCommand - vertMode=2 vert=228.89 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 1190.20 Seconds. : The vehicle position is (4075068.8, 590750.5) : NMEA Update: $GPGGA,155859.33,3649.0275,N,-12158.9504,W,1,03,00.5,054.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155900.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=229.15 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1146.001493 : TerrainNav update at dvl time = 1146.001493 : _navData-> (x,y) = (4075068.26, 590750.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155900.33,3649.0272,N,-12158.9507,W,1,03,00.5,053.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155901.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.27 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155901.33,3649.0269,N,-12158.9511,W,1,03,00.5,052.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1146.00 : -130.93 : Estimated East Bias at time = 1146.00 : -53.20 : Estimated Depth Bias at time = 1146.00 : -1.56 : Estimated northing and easting = 4074937.33 : 590696.81 : AshtechGps::processRecord() - $GPGGA,155902.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1193.40 Seconds. : The vehicle position is is (4075067.0, 590748.9) : NMEA Update: $GPGGA,155902.33,3649.0266,N,-12158.9514,W,1,03,00.5,053.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155903.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.97 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1149.001288 : TerrainNav update at dvl time = 1149.001288 : _navData-> (x,y) = (4075066.62, 590748.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155903.33,3649.0263,N,-12158.9518,W,1,03,00.5,052.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155904.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.33 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155904.33,3649.0260,N,-12158.9522,W,1,03,00.5,052.3,M,-99.9,M,,*46 : Estimated North Bias at time = 1149.00 : -131.01 : Estimated East Bias at time = 1149.00 : -53.18 : Estimated Depth Bias at time = 1149.00 : -1.56 : Estimated northing and easting = 4074935.61 : 590695.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155905.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1196.60 Seconds. : The vehicle position is (4075065.5, 590747.0) : NMEA Update: $GPGGA,155905.33,3649.0258,N,-12158.9526,W,1,03,00.5,052.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155906.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.69 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1152.001082 : TerrainNav update at dvl time = 1152.001082 : _navData-> (x,y) = (4075065.20, 590746.63) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1197.60 Seconds. : The vehicle position is is (4075065.0, 590746.4) : NMEA Update: $GPGGA,155906.33,3649.0255,N,-12158.9530,W,1,03,00.5,051.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155907.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=228.48 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1152.00 : -130.98 : Estimated East Bias at time = 1152.00 : -53.08 : Estimated Depth Bias at time = 1152.00 : -1.57 : Estimated northing and easting = 4074934.22 : 590693.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155907.33,3649.0253,N,-12158.9535,W,1,03,00.5,052.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155908.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1198.80 Seconds. : The vehicle position is (4075064.4, 590745.6) : LayeredControl _resolvedCommand - vertMode=2 vert=229.11 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155908.33,3649.0250,N,-12158.9539,W,1,03,00.5,052.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155909.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1199.80 Seconds. : The vehicle position is is (4075063.9, 590745.0) : TerrainNav update at nav time = 1155.000877 : TerrainNav update at dvl time = 1155.000877 : _navData-> (x,y) = (4075063.69, 590744.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155909.33,3649.0247,N,-12158.9543,W,1,03,00.5,054.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,155910.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1201.00 Seconds. : The vehicle position is (4075063.3, 590744.3) : LayeredControl _resolvedCommand - vertMode=2 vert=231.81 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155910.33,3649.0244,N,-12158.9547,W,1,03,00.5,054.7,M,-99.9,M,,*44 : Estimated North Bias at time = 1155.00 : -131.31 : Estimated East Bias at time = 1155.00 : -53.27 : Estimated Depth Bias at time = 1155.00 : -1.57 : Estimated northing and easting = 4074932.39 : 590691.50 : AshtechGps::processRecord() - $GPGGA,155911.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1202.00 Seconds. : The vehicle position is is (4075062.7, 590743.7) : LayeredControl _resolvedCommand - vertMode=2 vert=232.49 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155911.33,3649.0241,N,-12158.9551,W,1,03,00.5,055.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155912.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1158.000671 : TerrainNav update at dvl time = 1158.000671 : _navData-> (x,y) = (4075061.95, 590743.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155912.33,3649.0238,N,-12158.9554,W,1,03,00.5,055.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155913.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.28 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : WaypointHoming: The Usbl has aquired the transponder at t = 1204.20 Seconds. : The vehicle position is (4075061.3, 590742.6) : NMEA Update: $GPGGA,155913.33,3649.0234,N,-12158.9557,W,1,03,00.5,055.3,M,-99.9,M,,*44 : Estimated North Bias at time = 1158.00 : -131.40 : Estimated East Bias at time = 1158.00 : -53.62 : Estimated Depth Bias at time = 1158.00 : -1.56 : Estimated northing and easting = 4074930.55 : 590689.48 : AshtechGps::processRecord() - $GPGGA,155914.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=233.54 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155914.33,3649.0231,N,-12158.9561,W,1,03,00.5,056.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155915.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1206.20 Seconds. : The vehicle position is is (4075060.0, 590741.7) : TerrainNav update at nav time = 1161.000466 : TerrainNav update at dvl time = 1161.000466 : _navData-> (x,y) = (4075060.03, 590741.66) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=233.97 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155915.33,3649.0227,N,-12158.9564,W,1,03,00.5,056.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155916.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155916.33,3649.0224,N,-12158.9567,W,1,03,00.5,055.5,M,-99.9,M,,*45 : Estimated North Bias at time = 1161.00 : -131.50 : Estimated East Bias at time = 1161.00 : -54.05 : Estimated Depth Bias at time = 1161.00 : -1.56 : Estimated northing and easting = 4074928.53 : 590687.61 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155917.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.09 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155917.33,3649.0220,N,-12158.9570,W,1,03,00.5,055.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155918.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1164.000260 : TerrainNav update at dvl time = 1164.000260 : _navData-> (x,y) = (4075058.06, 590740.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=233.24 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155918.33,3649.0217,N,-12158.9573,W,1,03,00.5,055.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155919.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155919.33,3649.0213,N,-12158.9575,W,1,03,00.5,054.7,M,-99.9,M,,*4e : Estimated North Bias at time = 1164.00 : -131.46 : Estimated East Bias at time = 1164.00 : -54.52 : Estimated Depth Bias at time = 1164.00 : -1.55 : Estimated northing and easting = 4074926.61 : 590685.83 : AshtechGps::processRecord() - $GPGGA,155920.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=232.88 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155920.33,3649.0210,N,-12158.9578,W,1,03,00.5,054.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155921.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.20 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1167.000055 : TerrainNav update at dvl time = 1167.000055 : _navData-> (x,y) = (4075056.10, 590739.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155921.33,3649.0206,N,-12158.9581,W,1,03,00.5,051.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155922.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1167.00 : -131.07 : Estimated East Bias at time = 1167.00 : -55.05 : Estimated Depth Bias at time = 1167.00 : -1.55 : Estimated northing and easting = 4074925.03 : 590684.05 : LayeredControl _resolvedCommand - vertMode=2 vert=230.97 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155922.33,3649.0202,N,-12158.9584,W,1,03,00.5,052.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155923.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155923.33,3649.0198,N,-12158.9586,W,1,03,00.5,051.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155924.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=230.63 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1169.999849 : TerrainNav update at dvl time = 1169.999849 : _navData-> (x,y) = (4075053.89, 590737.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155924.33,3649.0194,N,-12158.9589,W,1,03,00.5,051.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155925.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=231.12 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1170.00 : -130.79 : Estimated East Bias at time = 1170.00 : -55.70 : Estimated Depth Bias at time = 1170.00 : -1.55 : Estimated northing and easting = 4074923.10 : 590682.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155925.33,3649.0190,N,-12158.9592,W,1,03,00.5,051.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155926.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155926.33,3649.0187,N,-12158.9594,W,1,03,00.5,051.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155927.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=230.95 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1172.999644 : TerrainNav update at dvl time = 1172.999644 : _navData-> (x,y) = (4075051.81, 590736.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155927.33,3649.0183,N,-12158.9597,W,1,03,00.5,051.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155928.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=231.80 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1173.00 : -130.47 : Estimated East Bias at time = 1173.00 : -56.25 : Estimated Depth Bias at time = 1173.00 : -1.56 : Estimated northing and easting = 4074921.34 : 590680.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155928.33,3649.0179,N,-12158.9600,W,1,03,00.5,051.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155929.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1220.60 Seconds. : The vehicle position is (4075050.2, 590735.7) : LayeredControl _resolvedCommand - vertMode=2 vert=232.62 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155929.33,3649.0176,N,-12158.9603,W,1,03,00.5,052.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155930.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1175.999439 : TerrainNav update at dvl time = 1175.999439 : _navData-> (x,y) = (4075049.78, 590735.48) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1221.60 Seconds. : The vehicle position is is (4075049.5, 590735.3) : NMEA Update: $GPGGA,155930.33,3649.0172,N,-12158.9606,W,1,03,00.5,054.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155931.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=235.42 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155931.33,3649.0169,N,-12158.9609,W,1,03,00.5,054.6,M,-99.9,M,,*43 : Estimated North Bias at time = 1176.00 : -130.70 : Estimated East Bias at time = 1176.00 : -56.56 : Estimated Depth Bias at time = 1176.00 : -1.55 : Estimated northing and easting = 4074919.08 : 590678.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155932.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=235.79 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155932.33,3649.0165,N,-12158.9612,W,1,03,00.5,053.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155933.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1178.999233 : TerrainNav update at dvl time = 1178.999233 : _navData-> (x,y) = (4075047.76, 590734.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155933.33,3649.0161,N,-12158.9615,W,1,03,00.5,054.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155934.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=235.97 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155934.33,3649.0158,N,-12158.9618,W,1,03,00.5,054.5,M,-99.9,M,,*47 : Estimated North Bias at time = 1179.00 : -130.65 : Estimated East Bias at time = 1179.00 : -57.01 : Estimated Depth Bias at time = 1179.00 : -1.55 : Estimated northing and easting = 4074917.11 : 590677.12 : AshtechGps::processRecord() - $GPGGA,155935.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=235.89 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155935.33,3649.0154,N,-12158.9622,W,1,03,00.5,054.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,155936.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1181.999027 : TerrainNav update at dvl time = 1181.999027 : _navData-> (x,y) = (4075045.71, 590732.73) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=235.59 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155936.33,3649.0150,N,-12158.9625,W,1,03,00.5,054.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155937.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1228.20 Seconds. : The vehicle position is (4075045.0, 590732.3) : Estimated North Bias at time = 1182.00 : -130.78 : Estimated East Bias at time = 1182.00 : -57.21 : Estimated Depth Bias at time = 1182.00 : -1.54 : Estimated northing and easting = 4074914.94 : 590675.53 : NMEA Update: $GPGGA,155937.33,3649.0146,N,-12158.9628,W,1,03,00.5,050.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,155938.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=232.79 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1229.40 Seconds. : The vehicle position is is (4075044.2, 590731.7) : NMEA Update: $GPGGA,155938.33,3649.0143,N,-12158.9631,W,1,03,00.5,051.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,155939.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1184.998822 : TerrainNav update at dvl time = 1184.998822 : _navData-> (x,y) = (4075043.63, 590731.37) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=232.88 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155939.33,3649.0139,N,-12158.9634,W,1,03,00.5,053.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155940.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155940.33,3649.0136,N,-12158.9637,W,1,03,00.5,052.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155941.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1185.00 : -130.76 : Estimated East Bias at time = 1185.00 : -57.55 : Estimated Depth Bias at time = 1185.00 : -1.54 : Estimated northing and easting = 4074912.87 : 590673.82 : LayeredControl _resolvedCommand - vertMode=2 vert=234.61 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155941.33,3649.0132,N,-12158.9641,W,1,03,00.5,050.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,155942.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=232.62 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1187.998616 : TerrainNav update at dvl time = 1187.998616 : _navData-> (x,y) = (4075041.62, 590729.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155942.33,3649.0128,N,-12158.9644,W,1,03,00.5,050.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155943.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=233.20 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155943.33,3649.0125,N,-12158.9647,W,1,03,00.5,050.8,M,-99.9,M,,*4e : Estimated North Bias at time = 1188.00 : -130.67 : Estimated East Bias at time = 1188.00 : -57.88 : Estimated Depth Bias at time = 1188.00 : -1.55 : Estimated northing and easting = 4074910.94 : 590672.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155944.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155944.33,3649.0121,N,-12158.9650,W,1,03,00.5,052.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,155945.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=235.28 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1190.998411 : TerrainNav update at dvl time = 1190.998411 : _navData-> (x,y) = (4075039.66, 590728.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155945.33,3649.0118,N,-12158.9654,W,1,03,00.5,053.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155946.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.00 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155946.33,3649.0114,N,-12158.9657,W,1,03,00.5,053.5,M,-99.9,M,,*46 : Estimated North Bias at time = 1191.00 : -130.39 : Estimated East Bias at time = 1191.00 : -58.37 : Estimated Depth Bias at time = 1191.00 : -1.55 : Estimated northing and easting = 4074909.28 : 590670.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155947.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,155947.33,3649.0111,N,-12158.9660,W,1,03,00.5,052.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,155948.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.26 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1193.998205 : TerrainNav update at dvl time = 1193.998205 : _navData-> (x,y) = (4075037.69, 590727.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155948.33,3649.0107,N,-12158.9663,W,1,03,00.5,050.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,155949.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=234.84 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1194.00 : -129.86 : Estimated East Bias at time = 1194.00 : -59.01 : Estimated Depth Bias at time = 1194.00 : -1.56 : Estimated northing and easting = 4074907.83 : 590668.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155949.33,3649.0104,N,-12158.9666,W,1,03,00.5,050.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,155950.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=234.70 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155950.33,3649.0100,N,-12158.9670,W,1,03,00.5,050.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155951.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1196.998000 : TerrainNav update at dvl time = 1196.998000 : _navData-> (x,y) = (4075035.64, 590725.70) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155951.33,3649.0096,N,-12158.9673,W,1,03,00.5,050.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,155952.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=234.63 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155952.33,3649.0093,N,-12158.9676,W,1,03,00.5,050.8,M,-99.9,M,,*40 : Estimated North Bias at time = 1197.00 : -129.59 : Estimated East Bias at time = 1197.00 : -59.49 : Estimated Depth Bias at time = 1197.00 : -1.56 : Estimated northing and easting = 4074906.05 : 590666.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,155953.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1243.79 Seconds. : The vehicle position is (4075034.6, 590724.9) : LayeredControl _resolvedCommand - vertMode=2 vert=234.78 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155953.33,3649.0089,N,-12158.9680,W,1,03,00.5,050.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,155954.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1199.997794 : TerrainNav update at dvl time = 1199.997794 : _navData-> (x,y) = (4075033.62, 590724.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,155954.33,3649.0086,N,-12158.9683,W,1,03,00.5,050.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,155955.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=235.03 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1200.00 : -129.30 : Estimated East Bias at time = 1200.00 : -59.81 : Estimated Depth Bias at time = 1200.00 : -1.56 : Estimated northing and easting = 4074904.32 : 590664.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155955.33,3649.0082,N,-12158.9686,W,1,03,00.5,050.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,155956.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=234.91 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : WaypointHoming: The Usbl does NOT detect the transponder at t = 1247.39 Seconds. : The vehicle position is is (4075032.2, 590723.1) : NMEA Update: $GPGGA,155956.33,3649.0079,N,-12158.9690,W,1,03,00.5,049.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,155957.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1202.997589 : TerrainNav update at dvl time = 1202.997589 : _navData-> (x,y) = (4075031.69, 590722.64) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=235.98 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155957.33,3649.0075,N,-12158.9694,W,1,03,00.5,051.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155958.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1203.00 : -129.08 : Estimated East Bias at time = 1203.00 : -59.77 : Estimated Depth Bias at time = 1203.00 : -1.56 : Estimated northing and easting = 4074902.62 : 590662.88 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,155958.33,3649.0072,N,-12158.9698,W,1,03,00.5,050.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,155959.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.25 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,155959.33,3649.0069,N,-12158.9702,W,1,03,00.5,051.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160000.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1205.997383 : TerrainNav update at dvl time = 1205.997383 : _navData-> (x,y) = (4075029.96, 590720.80) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=238.72 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160000.33,3649.0066,N,-12158.9707,W,1,03,00.5,053.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160001.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1206.00 : -129.58 : Estimated East Bias at time = 1206.00 : -59.71 : Estimated Depth Bias at time = 1206.00 : -1.56 : Estimated northing and easting = 4074900.37 : 590661.09 : NMEA Update: $GPGGA,160001.33,3649.0063,N,-12158.9711,W,1,03,00.5,050.5,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160002.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.13 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160002.33,3649.0059,N,-12158.9715,W,1,03,00.5,050.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160003.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.62 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1208.997178 : TerrainNav update at dvl time = 1208.997178 : _navData-> (x,y) = (4075028.11, 590719.02) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160003.33,3649.0056,N,-12158.9719,W,1,03,00.5,051.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160004.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.25 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160004.33,3649.0052,N,-12158.9722,W,1,03,00.5,051.8,M,-99.9,M,,*40 : Estimated North Bias at time = 1209.00 : -129.58 : Estimated East Bias at time = 1209.00 : -59.94 : Estimated Depth Bias at time = 1209.00 : -1.56 : Estimated northing and easting = 4074898.52 : 590659.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160005.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160005.33,3649.0049,N,-12158.9726,W,1,03,00.5,050.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160006.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.23 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1211.996972 : TerrainNav update at dvl time = 1211.996972 : _navData-> (x,y) = (4075026.09, 590717.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160006.33,3649.0045,N,-12158.9729,W,1,03,00.5,050.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160007.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.23 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160007.33,3649.0041,N,-12158.9733,W,1,03,00.5,051.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160008.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1212.00 : -129.46 : Estimated East Bias at time = 1212.00 : -60.33 : Estimated Depth Bias at time = 1212.00 : -1.55 : Estimated northing and easting = 4074896.63 : 590657.09 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160008.33,3649.0038,N,-12158.9737,W,1,03,00.5,050.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160009.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1259.79 Seconds. : The vehicle position is (4075024.3, 590716.1) : LayeredControl _resolvedCommand - vertMode=2 vert=236.71 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1214.996767 : TerrainNav update at dvl time = 1214.996767 : _navData-> (x,y) = (4075024.02, 590715.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160009.33,3649.0034,N,-12158.9740,W,1,03,00.5,050.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160010.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.84 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1215.00 : -129.28 : Estimated East Bias at time = 1215.00 : -60.57 : Estimated Depth Bias at time = 1215.00 : -1.55 : Estimated northing and easting = 4074894.74 : 590655.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160010.33,3649.0030,N,-12158.9743,W,1,03,00.5,050.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160011.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.69 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160011.33,3649.0026,N,-12158.9747,W,1,03,00.5,050.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160012.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1217.996561 : TerrainNav update at dvl time = 1217.996561 : _navData-> (x,y) = (4075021.94, 590714.29) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1263.39 Seconds. : The vehicle position is is (4075021.8, 590714.2) : NMEA Update: $GPGGA,160012.33,3649.0023,N,-12158.9751,W,1,03,00.5,050.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160013.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.79 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160013.33,3649.0019,N,-12158.9754,W,1,03,00.5,050.8,M,-99.9,M,,*49 : Estimated North Bias at time = 1218.00 : -129.44 : Estimated East Bias at time = 1218.00 : -60.79 : Estimated Depth Bias at time = 1218.00 : -1.55 : Estimated northing and easting = 4074892.50 : 590653.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160014.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=236.13 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160014.33,3649.0016,N,-12158.9758,W,1,03,00.5,049.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160015.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1220.996356 : TerrainNav update at dvl time = 1220.996356 : _navData-> (x,y) = (4075019.99, 590712.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160015.33,3649.0013,N,-12158.9762,W,1,03,00.5,050.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160016.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.10 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1221.00 : -129.61 : Estimated East Bias at time = 1221.00 : -60.76 : Estimated Depth Bias at time = 1221.00 : -1.55 : Estimated northing and easting = 4074890.38 : 590651.84 : NMEA Update: $GPGGA,160016.33,3649.0009,N,-12158.9766,W,1,03,00.5,050.7,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160017.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.95 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160017.33,3649.0006,N,-12158.9770,W,1,03,00.5,050.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160018.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : TerrainNav update at nav time = 1223.996150 : TerrainNav update at dvl time = 1223.996150 : _navData-> (x,y) = (4075018.08, 590710.87) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=237.29 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160018.33,3649.0002,N,-12158.9774,W,1,03,00.5,050.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160019.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1224.00 : -129.64 : Estimated East Bias at time = 1224.00 : -60.70 : Estimated Depth Bias at time = 1224.00 : -1.55 : Estimated northing and easting = 4074888.45 : 590650.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160019.33,3648.9999,N,-12158.9778,W,1,03,00.5,050.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160020.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.65 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160020.33,3648.9995,N,-12158.9782,W,1,03,00.5,051.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160021.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1226.995945 : TerrainNav update at dvl time = 1226.995945 : _navData-> (x,y) = (4075016.06, 590709.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=238.51 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160021.33,3648.9991,N,-12158.9785,W,1,03,00.5,050.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160022.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1227.00 : -129.76 : Estimated East Bias at time = 1227.00 : -60.63 : Estimated Depth Bias at time = 1227.00 : -1.55 : Estimated northing and easting = 4074886.30 : 590648.59 : NMEA Update: $GPGGA,160022.33,3648.9988,N,-12158.9789,W,1,03,00.5,051.9,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160023.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.56 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160023.33,3648.9984,N,-12158.9792,W,1,03,00.5,051.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160024.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming has set the state to finished. : WaypointHoming (4074955.6, 590661.2), reached at t = 1274.79 (wplog) : Vehicle Position error is (-58.6, -46.7) : The projected distance to the waypoint is 75.0. : The usbl range to the waypoint is 76.4. : LayeredControl::execute() -- (t = 1274.802670) Behavior waypoint_homing:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 1274.802670) Behavior acousticUpdate:-1 has changed to state Finished : CameraServer::onContinuously - starting! : The StartCamera Behavior has executed at t = 1274.81; The camera will run until commanded to stop. : CameraDriver::readData - Turning the camera on. : LayeredControl::execute() -- (t = 1274.812669) Behavior startCamera:-1 has changed to state Finished : WaypointHoming Initialization: Begin waypoint control at t= 1274.82 (wplog) The current location (N,E) = 4075014.2 , 590707.9 (wplog) The next waypoint = 4074955.6 , 590661.2 (wplog) The bearing to the next w.p. is 218.5 Degrees. : WaypointHoming:: Beacon is in the Usbl Fov at t = 1274.8 with dtw = 10000.00 : LayeredControl::execute() -- (t = 1274.822669) Behavior waypoint_homing:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=2 vert=237.48 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1229.995739 : TerrainNav update at dvl time = 1229.995739 : _navData-> (x,y) = (4075013.96, 590707.64) : _tercom->outstandingMeas() = 0 : SonardyneDriver::Stop : SonardyneDriver:: New transponder interrogation address is POS V4,5 : SonardyneDriver::Start : AshtechGps::processRecord() - $GPGGA,160025.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1230.00 : -129.71 : Estimated East Bias at time = 1230.00 : -60.56 : Estimated Depth Bias at time = 1230.00 : -1.55 : Estimated northing and easting = 4074884.25 : 590647.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=237.47 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160026.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 16:00:25 2010 . : NMEA Update: $GPGGA,160025.73,3648.9975,N,-12158.9801,W,1,03,00.5,050.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160027.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=238.19 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160026.73,3648.9971,N,-12158.9804,W,1,03,00.5,050.6,M,-99.9,M,,*40 : TerrainNav update at nav time = 1232.995534 : TerrainNav update at dvl time = 1232.995534 : _navData-> (x,y) = (4075011.83, 590706.10) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 16:00:27 2010 . : AshtechGps::processRecord() - $GPGGA,160028.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160027.73,3648.9967,N,-12158.9808,W,1,03,00.5,050.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=238.30 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1233.00 : -130.02 : Estimated East Bias at time = 1233.00 : -60.59 : Estimated Depth Bias at time = 1233.00 : -1.55 : Estimated northing and easting = 4074881.81 : 590645.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160029.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160028.73,3648.9963,N,-12158.9811,W,1,03,00.5,050.9,M,-99.9,M,,*46 : CameraDriver::Took a photo at Tue Mar 30 16:00:28 2010 . : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160030.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=238.46 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160029.73,3648.9960,N,-12158.9815,W,1,03,00.5,050.6,M,-99.9,M,,*4f : TerrainNav update at nav time = 1235.995328 : TerrainNav update at dvl time = 1235.995328 : _navData-> (x,y) = (4075009.74, 590704.60) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 16:00:30 2010 . : AshtechGps::processRecord() - $GPGGA,160031.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160030.73,3648.9956,N,-12158.9818,W,1,03,00.5,050.6,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=238.59 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1236.00 : -130.27 : Estimated East Bias at time = 1236.00 : -60.49 : Estimated Depth Bias at time = 1236.00 : -1.55 : Estimated northing and easting = 4074879.46 : 590644.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160032.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1282.79 Seconds. : The vehicle position is (4075008.6, 590703.8) : NMEA Update: $GPGGA,160031.73,3648.9952,N,-12158.9822,W,1,03,00.5,050.9,M,-99.9,M,,*4c : CameraDriver::Took a photo at Tue Mar 30 16:00:31 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=238.73 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160033.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl does NOT detect the transponder at t = 1283.79 Seconds. : The vehicle position is is (4075007.9, 590703.3) : NMEA Update: $GPGGA,160032.73,3648.9948,N,-12158.9825,W,1,03,00.5,050.6,M,-99.9,M,,*4c : TerrainNav update at nav time = 1238.995123 : TerrainNav update at dvl time = 1238.995123 : _navData-> (x,y) = (4075007.59, 590703.08) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160034.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : CameraDriver::Took a photo at Tue Mar 30 16:00:33 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=238.97 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160033.73,3648.9944,N,-12158.9829,W,1,03,00.5,050.5,M,-99.9,M,,*4e : Estimated North Bias at time = 1239.00 : -130.44 : Estimated East Bias at time = 1239.00 : -60.38 : Estimated Depth Bias at time = 1239.00 : -1.55 : Estimated northing and easting = 4074877.15 : 590642.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160035.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160034.73,3648.9941,N,-12158.9832,W,1,03,00.5,050.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=238.90 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:00:35 2010 . : AshtechGps::processRecord() - $GPGGA,160036.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160035.73,3648.9937,N,-12158.9836,W,1,03,00.5,050.3,M,-99.9,M,,*44 : TerrainNav update at nav time = 1241.994917 : TerrainNav update at dvl time = 1241.994917 : _navData-> (x,y) = (4075005.55, 590701.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160037.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=239.17 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160036.73,3648.9933,N,-12158.9840,W,1,03,00.5,050.5,M,-99.9,M,,*44 : CameraDriver::Took a photo at Tue Mar 30 16:00:36 2010 . : Estimated North Bias at time = 1241.99 : -130.73 : Estimated East Bias at time = 1241.99 : -60.06 : Estimated Depth Bias at time = 1241.99 : -1.55 : Estimated northing and easting = 4074874.82 : 590641.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160038.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160037.73,3648.9930,N,-12158.9843,W,1,03,00.5,050.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=239.14 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:00:38 2010 . : AshtechGps::processRecord() - $GPGGA,160039.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160038.54,3648.9927,N,-12158.9846,W,1,03,00.5,050.2,M,-99.9,M,,*4b : TerrainNav update at nav time = 1244.994712 : TerrainNav update at dvl time = 1244.994712 : _navData-> (x,y) = (4075003.48, 590699.82) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=239.50 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160040.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160039.54,3648.9923,N,-12158.9850,W,1,03,00.5,050.5,M,-99.9,M,,*4e : CameraDriver::Took a photo at Tue Mar 30 16:00:39 2010 . : Estimated North Bias at time = 1244.99 : -130.89 : Estimated East Bias at time = 1244.99 : -59.82 : Estimated Depth Bias at time = 1244.99 : -1.55 : Estimated northing and easting = 4074872.59 : 590640.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160041.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160040.54,3648.9919,N,-12158.9854,W,1,03,00.5,049.9,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=238.99 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160042.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160041.54,3648.9916,N,-12158.9858,W,1,03,00.5,050.7,M,-99.9,M,,*4d : CameraDriver::Took a photo at Tue Mar 30 16:00:41 2010 . : TerrainNav update at nav time = 1247.994506 : TerrainNav update at dvl time = 1247.994506 : _navData-> (x,y) = (4075001.37, 590698.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=239.15 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160043.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160042.54,3648.9912,N,-12158.9861,W,1,03,00.5,050.7,M,-99.9,M,,*40 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : Estimated North Bias at time = 1247.99 : -131.28 : Estimated East Bias at time = 1247.99 : -59.46 : Estimated Depth Bias at time = 1247.99 : -1.55 : Estimated northing and easting = 4074870.09 : 590638.76 : CameraDriver::Took a photo at Tue Mar 30 16:00:43 2010 . : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160044.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=239.29 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160043.54,3648.9908,N,-12158.9865,W,1,03,00.5,049.9,M,-99.9,M,,*48 : WaypointHoming: The Usbl has aquired the transponder at t = 1295.40 Seconds. : The vehicle position is (4074999.8, 590697.1) : AshtechGps::processRecord() - $GPGGA,160045.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160044.54,3648.9904,N,-12158.9868,W,1,03,00.5,049.2,M,-99.9,M,,*45 : CameraDriver::Took a photo at Tue Mar 30 16:00:44 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=238.77 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1250.994301 : TerrainNav update at dvl time = 1250.994301 : _navData-> (x,y) = (4074999.32, 590696.62) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1296.60 Seconds. : The vehicle position is is (4074999.0, 590696.4) : AshtechGps::processRecord() - $GPGGA,160046.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160045.54,3648.9901,N,-12158.9872,W,1,03,00.5,050.8,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=240.22 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:00:46 2010 . : Estimated North Bias at time = 1250.99 : -131.62 : Estimated East Bias at time = 1250.99 : -59.15 : Estimated Depth Bias at time = 1250.99 : -1.55 : Estimated northing and easting = 4074867.70 : 590637.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160047.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160046.54,3648.9897,N,-12158.9876,W,1,03,00.5,050.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160048.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160047.54,3648.9893,N,-12158.9880,W,1,03,00.5,050.2,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=239.41 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:00:47 2010 . : TerrainNav update at nav time = 1253.994095 : TerrainNav update at dvl time = 1253.994095 : _navData-> (x,y) = (4074997.27, 590694.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160049.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160048.54,3648.9890,N,-12158.9884,W,1,03,00.5,050.4,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=239.63 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1253.99 : -131.89 : Estimated East Bias at time = 1253.99 : -58.64 : Estimated Depth Bias at time = 1253.99 : -1.55 : Estimated northing and easting = 4074865.38 : 590636.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160050.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160049.54,3648.9886,N,-12158.9888,W,1,03,00.5,049.7,M,-99.9,M,,*48 : CameraDriver::Took a photo at Tue Mar 30 16:00:49 2010 . : AshtechGps::processRecord() - $GPGGA,160051.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=239.79 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160050.54,3648.9883,N,-12158.9891,W,1,03,00.5,049.8,M,-99.9,M,,*42 : TerrainNav update at nav time = 1256.993890 : TerrainNav update at dvl time = 1256.993890 : _navData-> (x,y) = (4074995.24, 590693.21) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 16:00:51 2010 . : AshtechGps::processRecord() - $GPGGA,160052.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160051.54,3648.9879,N,-12158.9895,W,1,03,00.5,050.8,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=240.58 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1256.99 : -132.04 : Estimated East Bias at time = 1256.99 : -58.46 : Estimated Depth Bias at time = 1256.99 : -1.55 : Estimated northing and easting = 4074863.21 : 590634.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160053.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160052.54,3648.9875,N,-12158.9899,W,1,03,00.5,049.8,M,-99.9,M,,*41 : CameraDriver::Took a photo at Tue Mar 30 16:00:52 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=241.46 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160054.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160053.54,3648.9871,N,-12158.9903,W,1,03,00.5,051.2,M,-99.9,M,,*45 : TerrainNav update at nav time = 1259.993684 : TerrainNav update at dvl time = 1259.993684 : _navData-> (x,y) = (4074993.15, 590691.52) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 16:00:54 2010 . : AshtechGps::processRecord() - $GPGGA,160055.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : NMEA Update: $GPGGA,160054.54,3648.9868,N,-12158.9907,W,1,03,00.5,050.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=240.97 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1259.99 : -132.34 : Estimated East Bias at time = 1259.99 : -58.13 : Estimated Depth Bias at time = 1259.99 : -1.55 : Estimated northing and easting = 4074860.82 : 590633.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160056.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160055.53,3648.9864,N,-12158.9911,W,1,03,00.5,049.9,M,-99.9,M,,*41 : WaypointHoming: The Usbl has aquired the transponder at t = 1307.20 Seconds. : The vehicle position is (4074991.7, 590690.4) : CameraDriver::Took a photo at Tue Mar 30 16:00:55 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=241.04 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160057.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160056.53,3648.9860,N,-12158.9914,W,1,03,00.5,049.2,M,-99.9,M,,*48 : TerrainNav update at nav time = 1262.993479 : TerrainNav update at dvl time = 1262.993479 : _navData-> (x,y) = (4074991.05, 590689.91) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1308.40 Seconds. : The vehicle position is is (4074990.9, 590689.8) : AshtechGps::processRecord() - $GPGGA,160058.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=240.91 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160057.53,3648.9856,N,-12158.9918,W,1,03,00.5,050.3,M,-99.9,M,,*49 : CameraDriver::Took a photo at Tue Mar 30 16:00:57 2010 . : Estimated North Bias at time = 1262.99 : -132.60 : Estimated East Bias at time = 1262.99 : -57.81 : Estimated Depth Bias at time = 1262.99 : -1.55 : Estimated northing and easting = 4074858.46 : 590632.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160059.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160058.53,3648.9853,N,-12158.9922,W,1,03,00.5,050.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=240.83 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:00:59 2010 . : AshtechGps::processRecord() - $GPGGA,160100.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160059.53,3648.9849,N,-12158.9925,W,1,03,00.5,050.2,M,-99.9,M,,*46 : TerrainNav update at nav time = 1265.993273 : TerrainNav update at dvl time = 1265.993273 : _navData-> (x,y) = (4074989.02, 590688.23) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=241.64 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160101.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160100.53,3648.9846,N,-12158.9929,W,1,03,00.5,049.8,M,-99.9,M,,*4a : CameraDriver::Took a photo at Tue Mar 30 16:01:00 2010 . : Estimated North Bias at time = 1265.99 : -133.16 : Estimated East Bias at time = 1265.99 : -57.72 : Estimated Depth Bias at time = 1265.99 : -1.55 : Estimated northing and easting = 4074855.86 : 590630.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160102.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160101.53,3648.9842,N,-12158.9933,W,1,03,00.5,050.5,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=240.50 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:01:02 2010 . : AshtechGps::processRecord() - $GPGGA,160103.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160102.53,3648.9838,N,-12158.9937,W,1,03,00.5,051.1,M,-99.9,M,,*4e : TerrainNav update at nav time = 1269.003067 : TerrainNav update at dvl time = 1269.003067 : _navData-> (x,y) = (4074986.91, 590686.51) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=240.77 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160104.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160103.53,3648.9834,N,-12158.9941,W,1,03,00.5,049.8,M,-99.9,M,,*42 : CameraDriver::Took a photo at Tue Mar 30 16:01:03 2010 . : WaypointHoming: The Usbl has aquired the transponder at t = 1315.40 Seconds. : The vehicle position is (4074986.1, 590685.8) : Estimated North Bias at time = 1269.00 : -133.35 : Estimated East Bias at time = 1269.00 : -57.59 : Estimated Depth Bias at time = 1269.00 : -1.55 : Estimated northing and easting = 4074853.56 : 590628.92 : AshtechGps::processRecord() - $GPGGA,160105.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=240.89 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160104.53,3648.9830,N,-12158.9945,W,1,03,00.5,049.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160106.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160105.53,3648.9827,N,-12158.9949,W,1,03,00.5,050.5,M,-99.9,M,,*4b : CameraDriver::Took a photo at Tue Mar 30 16:01:05 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=241.56 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1272.002862 : TerrainNav update at dvl time = 1272.002862 : _navData-> (x,y) = (4074984.80, 590684.75) : _tercom->outstandingMeas() = 0 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1317.60 Seconds. : The vehicle position is is (4074984.5, 590684.5) : AshtechGps::processRecord() - $GPGGA,160107.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160106.53,3648.9823,N,-12158.9953,W,1,03,00.5,049.5,M,-99.9,M,,*4f : Estimated North Bias at time = 1272.00 : -133.58 : Estimated East Bias at time = 1272.00 : -57.29 : Estimated Depth Bias at time = 1272.00 : -1.55 : Estimated northing and easting = 4074851.23 : 590627.46 : CameraDriver::Took a photo at Tue Mar 30 16:01:07 2010 . : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=241.69 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160108.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : WaypointHoming: The Usbl has aquired the transponder at t = 1318.80 Seconds. : The vehicle position is (4074983.7, 590683.8) : NMEA Update: $GPGGA,160107.53,3648.9819,N,-12158.9957,W,1,03,00.5,050.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160109.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160108.53,3648.9815,N,-12158.9961,W,1,03,00.5,049.5,M,-99.9,M,,*45 : WaypointHoming: The Usbl does NOT detect the transponder at t = 1320.00 Seconds. : The vehicle position is is (4074982.9, 590683.1) : LayeredControl _resolvedCommand - vertMode=2 vert=240.96 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:01:08 2010 . : TerrainNav update at nav time = 1275.002656 : TerrainNav update at dvl time = 1275.002656 : _navData-> (x,y) = (4074982.73, 590682.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160110.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160109.53,3648.9812,N,-12158.9965,W,1,03,00.5,050.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=240.39 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1275.00 : -133.81 : Estimated East Bias at time = 1275.00 : -57.15 : Estimated Depth Bias at time = 1275.00 : -1.55 : Estimated northing and easting = 4074848.92 : 590625.84 : CameraDriver::Took a photo at Tue Mar 30 16:01:10 2010 . : AshtechGps::processRecord() - $GPGGA,160111.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160110.53,3648.9808,N,-12158.9970,W,1,03,00.5,049.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160112.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=241.43 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160111.53,3648.9805,N,-12158.9974,W,1,03,00.5,049.8,M,-99.9,M,,*45 : CameraDriver::Took a photo at Tue Mar 30 16:01:11 2010 . : TerrainNav update at nav time = 1278.002451 : TerrainNav update at dvl time = 1278.002451 : _navData-> (x,y) = (4074980.79, 590681.00) : _tercom->outstandingMeas() = 0 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : AshtechGps::processRecord() - $GPGGA,160113.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160112.53,3648.9802,N,-12158.9979,W,1,03,00.5,050.0,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=242.56 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1278.00 : -134.20 : Estimated East Bias at time = 1278.00 : -56.79 : Estimated Depth Bias at time = 1278.00 : -1.55 : Estimated northing and easting = 4074846.59 : 590624.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160114.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160113.53,3648.9798,N,-12158.9983,W,1,03,00.5,050.8,M,-99.9,M,,*4c : CameraDriver::Took a photo at Tue Mar 30 16:01:13 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=242.05 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160115.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160114.53,3648.9795,N,-12158.9987,W,1,03,00.5,050.2,M,-99.9,M,,*48 : TerrainNav update at nav time = 1281.002245 : TerrainNav update at dvl time = 1281.002245 : _navData-> (x,y) = (4074978.80, 590679.11) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 16:01:15 2010 . : AshtechGps::processRecord() - $GPGGA,160116.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160115.53,3648.9791,N,-12158.9992,W,1,03,00.5,050.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=242.22 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1281.00 : -134.33 : Estimated East Bias at time = 1281.00 : -56.77 : Estimated Depth Bias at time = 1281.00 : -1.55 : Estimated northing and easting = 4074844.47 : 590622.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160117.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160116.53,3648.9787,N,-12158.9996,W,1,03,00.5,050.2,M,-99.9,M,,*49 : CameraDriver::Took a photo at Tue Mar 30 16:01:16 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=241.57 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160118.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160117.53,3648.9783,N,-12158.9999,W,1,03,00.5,049.5,M,-99.9,M,,*4c : TerrainNav update at nav time = 1284.002040 : TerrainNav update at dvl time = 1284.002040 : _navData-> (x,y) = (4074976.70, 590677.40) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 16:01:18 2010 . : AshtechGps::processRecord() - $GPGGA,160119.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=242.37 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160118.53,3648.9779,N,-12159.0003,W,1,03,00.5,050.3,M,-99.9,M,,*4a : Estimated North Bias at time = 1284.00 : -134.48 : Estimated East Bias at time = 1284.00 : -57.00 : Estimated Depth Bias at time = 1284.00 : -1.55 : Estimated northing and easting = 4074842.21 : 590620.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160120.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160119.53,3648.9775,N,-12159.0007,W,1,03,00.5,050.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=242.41 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:01:19 2010 . : AshtechGps::processRecord() - $GPGGA,160121.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160120.53,3648.9771,N,-12159.0010,W,1,03,00.5,050.2,M,-99.9,M,,*4a : TerrainNav update at nav time = 1287.001834 : TerrainNav update at dvl time = 1287.001834 : _navData-> (x,y) = (4074974.45, 590675.80) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=242.51 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160122.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160121.53,3648.9767,N,-12159.0014,W,1,03,00.5,050.2,M,-99.9,M,,*48 : CameraDriver::Took a photo at Tue Mar 30 16:01:21 2010 . : Estimated North Bias at time = 1287.00 : -134.42 : Estimated East Bias at time = 1287.00 : -56.91 : Estimated Depth Bias at time = 1287.00 : -1.55 : Estimated northing and easting = 4074840.03 : 590618.89 : AshtechGps::processRecord() - $GPGGA,160123.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160122.53,3648.9763,N,-12159.0017,W,1,03,00.5,049.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=242.27 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:01:23 2010 . : AshtechGps::processRecord() - $GPGGA,160124.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160123.53,3648.9759,N,-12159.0021,W,1,03,00.5,049.3,M,-99.9,M,,*48 : TerrainNav update at nav time = 1290.001629 : TerrainNav update at dvl time = 1290.001629 : _navData-> (x,y) = (4074972.19, 590674.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=241.75 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160125.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160124.53,3648.9755,N,-12159.0025,W,1,03,00.5,049.6,M,-99.9,M,,*42 : CameraDriver::Took a photo at Tue Mar 30 16:01:24 2010 . : Estimated North Bias at time = 1290.00 : -134.49 : Estimated East Bias at time = 1290.00 : -56.59 : Estimated Depth Bias at time = 1290.00 : -1.55 : Estimated northing and easting = 4074837.70 : 590617.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160126.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=242.37 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160125.53,3648.9751,N,-12159.0028,W,1,03,00.5,049.9,M,-99.9,M,,*45 : CameraDriver::Took a photo at Tue Mar 30 16:01:26 2010 . : AshtechGps::processRecord() - $GPGGA,160127.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160126.53,3648.9747,N,-12159.0032,W,1,03,00.5,050.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=241.96 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1293.001423 : TerrainNav update at dvl time = 1293.001423 : _navData-> (x,y) = (4074969.97, 590672.60) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160128.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160127.53,3648.9743,N,-12159.0036,W,1,03,00.5,049.6,M,-99.9,M,,*44 : CameraDriver::Took a photo at Tue Mar 30 16:01:27 2010 . : Estimated North Bias at time = 1293.00 : -134.77 : Estimated East Bias at time = 1293.00 : -56.43 : Estimated Depth Bias at time = 1293.00 : -1.55 : Estimated northing and easting = 4074835.21 : 590616.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=242.44 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160129.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160128.53,3648.9739,N,-12159.0039,W,1,03,00.5,049.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160130.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160129.53,3648.9736,N,-12159.0043,W,1,03,00.5,049.6,M,-99.9,M,,*4a : CameraDriver::Took a photo at Tue Mar 30 16:01:29 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=242.46 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : TerrainNav update at nav time = 1296.001218 : TerrainNav update at dvl time = 1296.001218 : _navData-> (x,y) = (4074967.81, 590670.98) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160131.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160130.53,3648.9732,N,-12159.0047,W,1,03,00.5,049.8,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=242.77 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1296.00 : -134.85 : Estimated East Bias at time = 1296.00 : -56.10 : Estimated Depth Bias at time = 1296.00 : -1.56 : Estimated northing and easting = 4074832.96 : 590614.88 : CameraDriver::Took a photo at Tue Mar 30 16:01:31 2010 . : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160132.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160131.53,3648.9728,N,-12159.0050,W,1,03,00.5,050.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160133.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=242.37 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160132.53,3648.9723,N,-12159.0054,W,1,03,00.5,049.4,M,-99.9,M,,*40 : CameraDriver::Took a photo at Tue Mar 30 16:01:32 2010 . : TerrainNav update at nav time = 1299.001012 : TerrainNav update at dvl time = 1299.001012 : _navData-> (x,y) = (4074965.53, 590669.34) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160134.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160133.53,3648.9719,N,-12159.0058,W,1,03,00.5,050.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=243.05 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1299.00 : -134.66 : CameraDriver::Took a photo at Tue Mar 30 16:01:34 2010 . : Estimated East Bias at time = 1299.00 : -56.11 : Estimated Depth Bias at time = 1299.00 : -1.56 : Estimated northing and easting = 4074830.87 : 590613.23 : AshtechGps::processRecord() - $GPGGA,160135.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160134.53,3648.9715,N,-12159.0062,W,1,03,00.5,049.5,M,-99.9,M,,*47 : SonardyneDriver::acquireRangeData() - Beacon not detected! tat = -nan : LayeredControl _resolvedCommand - vertMode=2 vert=242.78 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160136.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160135.53,3648.9712,N,-12159.0066,W,1,03,00.5,049.8,M,-99.9,M,,*48 : CameraDriver::Took a photo at Tue Mar 30 16:01:35 2010 . : TerrainNav update at nav time = 1302.000807 : TerrainNav update at dvl time = 1302.000807 : _navData-> (x,y) = (4074963.32, 590667.68) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160137.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160136.53,3648.9707,N,-12159.0069,W,1,03,00.5,049.9,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=243.00 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : Estimated North Bias at time = 1302.00 : -134.84 : Estimated East Bias at time = 1302.00 : -55.84 : Estimated Depth Bias at time = 1302.00 : -1.56 : Estimated northing and easting = 4074828.49 : 590611.83 : AshtechGps::processRecord() - $GPGGA,160138.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160137.53,3648.9704,N,-12159.0073,W,1,03,00.5,050.0,M,-99.9,M,,*49 : CameraDriver::Took a photo at Tue Mar 30 16:01:37 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=243.17 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160139.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160138.53,3648.9700,N,-12159.0077,W,1,03,00.5,049.9,M,-99.9,M,,*47 : TerrainNav update at nav time = 1305.000601 : TerrainNav update at dvl time = 1305.000601 : _navData-> (x,y) = (4074961.08, 590665.95) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 16:01:39 2010 . : AshtechGps::processRecord() - $GPGGA,160140.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=243.24 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160139.53,3648.9696,N,-12159.0081,W,1,03,00.5,050.0,M,-99.9,M,,*40 : Estimated North Bias at time = 1305.00 : -134.96 : Estimated East Bias at time = 1305.00 : -55.63 : Estimated Depth Bias at time = 1305.00 : -1.56 : Estimated northing and easting = 4074826.12 : 590610.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160141.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160140.53,3648.9692,N,-12159.0085,W,1,03,00.5,050.1,M,-99.9,M,,*4f : CameraDriver::Took a photo at Tue Mar 30 16:01:40 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=243.35 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160142.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160141.53,3648.9688,N,-12159.0089,W,1,03,00.5,050.1,M,-99.9,M,,*49 : TerrainNav update at nav time = 1308.000396 : TerrainNav update at dvl time = 1308.000396 : _navData-> (x,y) = (4074958.87, 590664.17) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=243.40 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:01:42 2010 . : AshtechGps::processRecord() - $GPGGA,160143.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160142.53,3648.9684,N,-12159.0093,W,1,03,00.5,050.1,M,-99.9,M,,*4d : Estimated North Bias at time = 1308.00 : -135.18 : Estimated East Bias at time = 1308.00 : -55.49 : Estimated Depth Bias at time = 1308.00 : -1.56 : Estimated northing and easting = 4074823.69 : 590608.68 : AshtechGps::processRecord() - $GPGGA,160144.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160143.53,3648.9680,N,-12159.0097,W,1,03,00.5,050.1,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=243.46 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : CameraDriver::Took a photo at Tue Mar 30 16:01:43 2010 . : AshtechGps::processRecord() - $GPGGA,160145.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160144.53,3648.9676,N,-12159.0101,W,1,03,00.5,050.1,M,-99.9,M,,*4c : TerrainNav update at nav time = 1311.000190 : TerrainNav update at dvl time = 1311.000190 : _navData-> (x,y) = (4074956.72, 590662.44) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=243.51 horzlMode=3 horz=3.81 speedMode=1 speed=1.00 : AshtechGps::processRecord() - $GPGGA,160146.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160145.53,3648.9672,N,-12159.0105,W,1,03,00.5,050.1,M,-99.9,M,,*4d : CameraDriver::Took a photo at Tue Mar 30 16:01:45 2010 . : Estimated North Bias at time = 1311.00 : -135.38 : Estimated East Bias at time = 1311.00 : -55.51 : Estimated Depth Bias at time = 1311.00 : -1.56 : Estimated northing and easting = 4074821.34 : 590606.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : WaypointHoming: The Usbl has aquired the transponder at t = 1357.60 Seconds. : The vehicle position is (4074955.7, 590661.7) : AshtechGps::processRecord() - $GPGGA,160147.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=242.89 horzlMode=2 horz=3.81 speedMode=1 speed=1.00 : NMEA Update: $GPGGA,160146.53,3648.9668,N,-12159.0109,W,1,03,00.5,049.4,M,-99.9,M,,*44 : WaypointHoming has set the state to finished. : WaypointHoming (4074955.6, 590661.2), reached at t = 1358.20 (wplog) : Vehicle Position error is (0.3, -0.2) : The projected distance to the waypoint is -0.2. : The usbl range to the waypoint is 155.0. : LayeredControl::execute() -- (t = 1358.196957) Behavior waypoint_homing:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 1358.206956) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1358.21 (wplog) The current location (N,E) = 4074955.2 , 590661.3 (wplog) The next waypoint = 4074917.3 , 590629.0 (wplog) The bearing to the next w.p. is 220.4 Degrees. : LayeredControl::execute() -- (t = 1358.206956) Behavior waypoint:-1 has changed to state Active : CameraDriver::Took a photo at Tue Mar 30 16:01:47 2010 . : AshtechGps::processRecord() - $GPGGA,160148.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160147.53,3648.9664,N,-12159.0113,W,1,03,00.5,049.8,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=243.38 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1313.999985 : TerrainNav update at dvl time = 1313.999985 : _navData-> (x,y) = (4074954.51, 590660.77) : _tercom->outstandingMeas() = 0 : SonardyneDriver::Stop : AshtechGps::processRecord() - $GPGGA,160149.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160148.53,3648.9660,N,-12159.0116,W,1,03,00.5,049.2,M,-99.9,M,,*4a : CameraDriver::Took a photo at Tue Mar 30 16:01:48 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=242.82 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : Estimated North Bias at time = 1314.00 : -135.71 : Estimated East Bias at time = 1314.00 : -55.31 : Estimated Depth Bias at time = 1314.00 : -1.55 : Estimated northing and easting = 4074818.79 : 590605.47 : AshtechGps::processRecord() - $GPGGA,160150.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160149.53,3648.9656,N,-12159.0121,W,1,03,00.5,050.2,M,-99.9,M,,*42 : CameraDriver::Took a photo at Tue Mar 30 16:01:50 2010 . : AshtechGps::processRecord() - $GPGGA,160151.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160150.53,3648.9652,N,-12159.0125,W,1,03,00.5,049.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=244.14 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1316.999779 : TerrainNav update at dvl time = 1316.999779 : _navData-> (x,y) = (4074952.26, 590658.93) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160152.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160151.53,3648.9648,N,-12159.0129,W,1,03,00.5,049.7,M,-99.9,M,,*41 : CameraDriver::Took a photo at Tue Mar 30 16:01:51 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=243.73 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : Estimated North Bias at time = 1317.00 : -135.65 : Estimated East Bias at time = 1317.00 : -55.24 : Estimated Depth Bias at time = 1317.00 : -1.55 : Estimated northing and easting = 4074816.62 : 590603.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160153.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160152.53,3648.9644,N,-12159.0134,W,1,03,00.5,049.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160154.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=243.99 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160153.53,3648.9639,N,-12159.0139,W,1,03,00.5,050.0,M,-99.9,M,,*4b : CameraDriver::Took a photo at Tue Mar 30 16:01:53 2010 . : TerrainNav update at nav time = 1319.999574 : TerrainNav update at dvl time = 1319.999574 : _navData-> (x,y) = (4074949.75, 590656.87) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160155.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160154.53,3648.9634,N,-12159.0144,W,1,03,00.5,050.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=243.34 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : CameraDriver::Took a photo at Tue Mar 30 16:01:55 2010 . : Estimated North Bias at time = 1320.00 : -135.49 : Estimated East Bias at time = 1320.00 : -55.15 : Estimated Depth Bias at time = 1320.00 : -1.54 : Estimated northing and easting = 4074814.26 : 590601.72 : AshtechGps::processRecord() - $GPGGA,160156.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160155.53,3648.9630,N,-12159.0149,W,1,03,00.5,050.8,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=246.87 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160157.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160156.53,3648.9625,N,-12159.0154,W,1,03,00.5,052.8,M,-99.9,M,,*42 : CameraDriver::Took a photo at Tue Mar 30 16:01:56 2010 . : TerrainNav update at nav time = 1322.999368 : TerrainNav update at dvl time = 1322.999368 : _navData-> (x,y) = (4074947.03, 590654.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160158.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160157.53,3648.9620,N,-12159.0160,W,1,03,00.5,050.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=244.40 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : Estimated North Bias at time = 1323.00 : -135.65 : Estimated East Bias at time = 1323.00 : -54.64 : Estimated Depth Bias at time = 1323.00 : -1.54 : Estimated northing and easting = 4074811.38 : 590599.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : CameraDriver::Took a photo at Tue Mar 30 16:01:58 2010 . : AshtechGps::processRecord() - $GPGGA,160159.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160158.53,3648.9614,N,-12159.0166,W,1,03,00.5,049.2,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=244.95 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160200.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160159.53,3648.9609,N,-12159.0171,W,1,03,00.5,050.0,M,-99.9,M,,*4e : CameraDriver::Took a photo at Tue Mar 30 16:01:59 2010 . : TerrainNav update at nav time = 1325.999163 : TerrainNav update at dvl time = 1325.999163 : _navData-> (x,y) = (4074944.06, 590652.04) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160201.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=244.34 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160200.53,3648.9603,N,-12159.0177,W,1,03,00.5,050.0,M,-99.9,M,,*4d : Estimated North Bias at time = 1326.00 : -135.53 : Estimated East Bias at time = 1326.00 : -54.58 : Estimated Depth Bias at time = 1326.00 : -1.53 : Estimated northing and easting = 4074808.53 : 590597.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160202.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160201.53,3648.9598,N,-12159.0183,W,1,03,00.5,049.8,M,-99.9,M,,*46 : CameraDriver::Took a photo at Tue Mar 30 16:02:01 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=244.18 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160203.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160202.53,3648.9592,N,-12159.0189,W,1,03,00.5,052.9,M,-99.9,M,,*4e : TerrainNav update at nav time = 1328.998957 : TerrainNav update at dvl time = 1328.998957 : _navData-> (x,y) = (4074940.95, 590649.42) : _tercom->outstandingMeas() = 0 : CameraDriver::Took a photo at Tue Mar 30 16:02:03 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=243.77 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160204.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160203.53,3648.9587,N,-12159.0195,W,1,03,00.5,049.5,M,-99.9,M,,*40 : Estimated North Bias at time = 1329.00 : -135.66 : Estimated East Bias at time = 1329.00 : -54.16 : Estimated Depth Bias at time = 1329.00 : -1.53 : Estimated northing and easting = 4074805.29 : 590595.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160205.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160204.53,3648.9581,N,-12159.0201,W,1,03,00.5,049.6,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=244.31 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : CameraDriver::Took a photo at Tue Mar 30 16:02:04 2010 . : AshtechGps::processRecord() - $GPGGA,160206.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160205.53,3648.9575,N,-12159.0207,W,1,03,00.5,049.8,M,-99.9,M,,*4e : TerrainNav update at nav time = 1331.998752 : TerrainNav update at dvl time = 1331.998752 : _navData-> (x,y) = (4074937.65, 590646.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=244.58 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : CameraDriver::Took a photo at Tue Mar 30 16:02:06 2010 . : AshtechGps::processRecord() - $GPGGA,160207.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160206.53,3648.9569,N,-12159.0214,W,1,03,00.5,049.5,M,-99.9,M,,*4f : Estimated North Bias at time = 1332.00 : -135.51 : Estimated East Bias at time = 1332.00 : -54.08 : Estimated Depth Bias at time = 1332.00 : -1.52 : Estimated northing and easting = 4074802.14 : 590592.62 : AshtechGps::processRecord() - $GPGGA,160208.00,,,,,0,00,,,M,,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=244.13 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160207.53,3648.9563,N,-12159.0220,W,1,03,00.5,049.3,M,-99.9,M,,*45 : CameraDriver::Took a photo at Tue Mar 30 16:02:07 2010 . : AshtechGps::processRecord() - $GPGGA,160209.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160208.53,3648.9557,N,-12159.0227,W,1,03,00.5,052.4,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=247.44 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1334.998546 : TerrainNav update at dvl time = 1334.998546 : _navData-> (x,y) = (4074934.40, 590643.87) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160210.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160209.53,3648.9551,N,-12159.0233,W,1,03,00.5,052.2,M,-99.9,M,,*43 : CameraDriver::Took a photo at Tue Mar 30 16:02:09 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=246.88 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : Estimated North Bias at time = 1335.00 : -135.66 : Estimated East Bias at time = 1335.00 : -53.80 : Estimated Depth Bias at time = 1335.00 : -1.52 : Estimated northing and easting = 4074798.74 : 590590.07 : AshtechGps::processRecord() - $GPGGA,160211.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160210.53,3648.9546,N,-12159.0240,W,1,03,00.5,051.8,M,-99.9,M,,*40 : CameraDriver::Took a photo at Tue Mar 30 16:02:11 2010 . : AshtechGps::processRecord() - $GPGGA,160212.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160211.53,3648.9540,N,-12159.0246,W,1,03,00.5,052.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=246.97 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1337.998341 : TerrainNav update at dvl time = 1337.998341 : _navData-> (x,y) = (4074931.09, 590640.99) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160213.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160212.53,3648.9534,N,-12159.0253,W,1,03,00.5,053.3,M,-99.9,M,,*4c : CameraDriver::Took a photo at Tue Mar 30 16:02:12 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=247.87 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : Estimated North Bias at time = 1338.00 : -135.85 : Estimated East Bias at time = 1338.00 : -53.44 : Estimated Depth Bias at time = 1338.00 : -1.52 : Estimated northing and easting = 4074795.24 : 590587.54 : AshtechGps::processRecord() - $GPGGA,160214.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160213.53,3648.9528,N,-12159.0259,W,1,03,00.5,052.7,M,-99.9,M,,*4f : CameraDriver::Took a photo at Tue Mar 30 16:02:14 2010 . : AshtechGps::processRecord() - $GPGGA,160215.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=247.68 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160214.53,3648.9522,N,-12159.0266,W,1,03,00.5,052.5,M,-99.9,M,,*4c : TerrainNav update at nav time = 1340.998135 : TerrainNav update at dvl time = 1340.998135 : _navData-> (x,y) = (4074927.74, 590638.09) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160216.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160215.53,3648.9516,N,-12159.0273,W,1,03,00.5,052.5,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=247.65 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : CameraDriver::Took a photo at Tue Mar 30 16:02:15 2010 . : AshtechGps::processRecord() - $GPGGA,160217.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1341.00 : -135.76 : Estimated East Bias at time = 1341.00 : -53.34 : Estimated Depth Bias at time = 1341.00 : -1.52 : Estimated northing and easting = 4074791.98 : 590584.76 : NMEA Update: $GPGGA,160216.53,3648.9510,N,-12159.0279,W,1,03,00.5,052.3,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=247.39 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160218.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160217.53,3648.9504,N,-12159.0285,W,1,03,00.5,052.0,M,-99.9,M,,*43 : CameraDriver::Took a photo at Tue Mar 30 16:02:17 2010 . : TerrainNav update at nav time = 1343.997930 : TerrainNav update at dvl time = 1343.997930 : _navData-> (x,y) = (4074924.39, 590635.23) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160219.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160218.53,3648.9498,N,-12159.0292,W,1,03,00.5,049.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=245.14 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : CameraDriver::Took a photo at Tue Mar 30 16:02:19 2010 . : Estimated North Bias at time = 1344.00 : -135.68 : Estimated East Bias at time = 1344.00 : -53.34 : Estimated Depth Bias at time = 1344.00 : -1.52 : Estimated northing and easting = 4074788.72 : 590581.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160220.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160219.53,3648.9492,N,-12159.0299,W,1,03,00.5,049.4,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=245.36 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160221.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160220.53,3648.9486,N,-12159.0305,W,1,03,00.5,049.4,M,-99.9,M,,*4b : CameraDriver::Took a photo at Tue Mar 30 16:02:20 2010 . : TerrainNav update at nav time = 1346.997724 : TerrainNav update at dvl time = 1346.997724 : _navData-> (x,y) = (4074921.06, 590632.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160222.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=245.45 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160221.53,3648.9480,N,-12159.0311,W,1,03,00.5,049.0,M,-99.9,M,,*4d : CameraDriver::Took a photo at Tue Mar 30 16:02:22 2010 . : Estimated North Bias at time = 1347.00 : -135.46 : Estimated East Bias at time = 1347.00 : -53.52 : Estimated Depth Bias at time = 1347.00 : -1.52 : Estimated northing and easting = 4074785.60 : 590578.85 : AshtechGps::processRecord() - $GPGGA,160223.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160222.53,3648.9474,N,-12159.0318,W,1,03,00.5,049.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=246.42 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160224.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160223.53,3648.9468,N,-12159.0325,W,1,03,00.5,049.2,M,-99.9,M,,*4c : CameraDriver::Took a photo at Tue Mar 30 16:02:23 2010 . : TerrainNav update at nav time = 1349.997519 : TerrainNav update at dvl time = 1349.997519 : _navData-> (x,y) = (4074917.73, 590629.45) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=246.84 horzlMode=3 horz=3.85 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160225.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Waypoint has set the state to finished. : Waypoint (4074917.3, 590629.0), reached at t = 1395.79 (wplog) : Vehicle Position is error is (0.2, 0.2) : LayeredControl::execute() -- (t = 1395.794381) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 1395.794381) Behavior acousticUpdate:-1 has changed to state Finished : CameraServer::Shutting off the camera! : CameraServer::stop - Camera will stop after 1 photos. : LayeredControl::execute() -- (t = 1395.804381) Behavior stopCamera:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1395.80 (wplog) The current location (N,E) = 4074917.1 , 590628.9 (wplog) The next waypoint = 4074824.5 , 591049.8 (wplog) The bearing to the next w.p. is 102.4 Degrees. : LayeredControl::execute() -- (t = 1395.804381) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,160224.53,3648.9462,N,-12159.0331,W,1,03,00.5,049.0,M,-99.9,M,,*46 : Estimated North Bias at time = 1350.00 : -135.19 : Estimated East Bias at time = 1350.00 : -53.86 : Estimated Depth Bias at time = 1350.00 : -1.52 : Estimated northing and easting = 4074782.54 : 590575.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160226.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160225.53,3648.9456,N,-12159.0338,W,1,03,00.5,049.5,M,-99.9,M,,*4c : CameraDriver::Took a photo at Tue Mar 30 16:02:25 2010 . : LayeredControl _resolvedCommand - vertMode=2 vert=247.11 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160227.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160226.53,3648.9450,N,-12159.0345,W,1,03,00.5,050.2,M,-99.9,M,,*4c : TerrainNav update at nav time = 1352.997313 : TerrainNav update at dvl time = 1352.997313 : _navData-> (x,y) = (4074914.33, 590626.50) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=248.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : CameraDriver::Took a photo at Tue Mar 30 16:02:27 2010 . : AshtechGps::processRecord() - $GPGGA,160228.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160227.53,3648.9444,N,-12159.0351,W,1,03,00.5,053.0,M,-99.9,M,,*4c : Estimated North Bias at time = 1353.00 : -135.05 : Estimated East Bias at time = 1353.00 : -54.24 : Estimated Depth Bias at time = 1353.00 : -1.52 : Estimated northing and easting = 4074779.29 : 590572.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160229.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=249.57 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160228.53,3648.9437,N,-12159.0356,W,1,03,00.5,051.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160230.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160229.53,3648.9430,N,-12159.0360,W,1,03,00.5,051.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=249.97 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1355.997108 : TerrainNav update at dvl time = 1355.997108 : _navData-> (x,y) = (4074910.54, 590624.45) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160231.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160230.53,3648.9423,N,-12159.0363,W,1,03,00.5,052.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=249.82 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1356.00 : -134.05 : Estimated East Bias at time = 1356.00 : -55.79 : Estimated Depth Bias at time = 1356.00 : -1.51 : Estimated northing and easting = 4074776.48 : 590568.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160232.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160231.53,3648.9415,N,-12159.0364,W,1,03,00.5,052.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160233.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160232.53,3648.9408,N,-12159.0363,W,1,03,00.5,051.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=249.80 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1358.996902 : TerrainNav update at dvl time = 1358.996902 : _navData-> (x,y) = (4074906.52, 590624.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160234.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160233.53,3648.9401,N,-12159.0361,W,1,03,00.5,052.8,M,-99.9,M,,*42 : Estimated North Bias at time = 1359.00 : -133.27 : Estimated East Bias at time = 1359.00 : -58.79 : Estimated Depth Bias at time = 1359.00 : -1.51 : Estimated northing and easting = 4074773.25 : 590565.61 : LayeredControl _resolvedCommand - vertMode=2 vert=250.47 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160235.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160234.53,3648.9396,N,-12159.0357,W,1,03,00.5,052.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160236.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=252.47 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160235.53,3648.9391,N,-12159.0353,W,1,03,00.5,054.7,M,-99.9,M,,*42 : TerrainNav update at nav time = 1361.996697 : TerrainNav update at dvl time = 1361.996697 : _navData-> (x,y) = (4074903.53, 590626.15) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160237.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160236.53,3648.9386,N,-12159.0348,W,1,03,00.5,055.2,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=254.49 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1362.00 : -133.97 : Estimated East Bias at time = 1362.00 : -61.85 : Estimated Depth Bias at time = 1362.00 : -1.51 : Estimated northing and easting = 4074769.56 : 590564.30 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160238.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160237.53,3648.9383,N,-12159.0342,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160239.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160238.53,3648.9380,N,-12159.0336,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 1364.996491 : TerrainNav update at dvl time = 1364.996491 : _navData-> (x,y) = (4074901.84, 590628.74) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1365.00 : -135.58 : Estimated East Bias at time = 1365.00 : -64.30 : Estimated Depth Bias at time = 1365.00 : -1.51 : Estimated northing and easting = 4074766.27 : 590564.44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160240.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160239.53,3648.9379,N,-12159.0329,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160241.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160240.53,3648.9378,N,-12159.0323,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160242.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160241.53,3648.9378,N,-12159.0316,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 1367.996286 : TerrainNav update at dvl time = 1367.996286 : _navData-> (x,y) = (4074901.55, 590631.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,160243.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160242.53,3648.9378,N,-12159.0310,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : Estimated North Bias at time = 1368.00 : -137.67 : Estimated East Bias at time = 1368.00 : -65.87 : Estimated Depth Bias at time = 1368.00 : -1.51 : Estimated northing and easting = 4074763.88 : 590565.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160244.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160243.53,3648.9379,N,-12159.0304,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160245.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160244.53,3648.9381,N,-12159.0298,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : TerrainNav update at nav time = 1370.996080 : TerrainNav update at dvl time = 1370.996080 : _navData-> (x,y) = (4074902.25, 590634.28) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1371.00 : -140.26 : Estimated East Bias at time = 1371.00 : -66.60 : Estimated Depth Bias at time = 1371.00 : -1.51 : Estimated northing and easting = 4074761.98 : 590567.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160246.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160245.53,3648.9383,N,-12159.0293,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,160247.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160246.53,3648.9385,N,-12159.0287,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160248.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160247.53,3648.9387,N,-12159.0281,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 1373.995875 : TerrainNav update at dvl time = 1373.995875 : _navData-> (x,y) = (4074903.46, 590636.92) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1374.00 : -142.50 : Estimated East Bias at time = 1374.00 : -66.70 : Estimated Depth Bias at time = 1374.00 : -1.51 : Estimated northing and easting = 4074760.97 : 590570.22 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160249.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160248.53,3648.9390,N,-12159.0275,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,160250.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160249.53,3648.9392,N,-12159.0268,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : AshtechGps::processRecord() - $GPGGA,160251.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160250.53,3648.9395,N,-12159.0260,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1376.995669 : TerrainNav update at dvl time = 1376.995669 : _navData-> (x,y) = (4074904.95, 590639.88) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1377.00 : -144.58 : Estimated East Bias at time = 1377.00 : -66.70 : Estimated Depth Bias at time = 1377.00 : -1.51 : Estimated northing and easting = 4074760.37 : 590573.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160252.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160251.53,3648.9397,N,-12159.0255,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160253.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160252.53,3648.9400,N,-12159.0248,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : AshtechGps::processRecord() - $GPGGA,160254.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160253.53,3648.9402,N,-12159.0241,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1379.995464 : TerrainNav update at dvl time = 1379.995464 : _navData-> (x,y) = (4074906.27, 590642.86) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1380.00 : -146.19 : Estimated East Bias at time = 1380.00 : -66.82 : Estimated Depth Bias at time = 1380.00 : -1.51 : Estimated northing and easting = 4074760.08 : 590576.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160255.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160254.53,3648.9404,N,-12159.0234,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160256.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160255.53,3648.9406,N,-12159.0226,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : AshtechGps::processRecord() - $GPGGA,160257.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160256.53,3648.9409,N,-12159.0219,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : TerrainNav update at nav time = 1382.995258 : TerrainNav update at dvl time = 1382.995258 : _navData-> (x,y) = (4074907.52, 590646.19) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1383.00 : -148.34 : Estimated East Bias at time = 1383.00 : -66.87 : Estimated Depth Bias at time = 1383.00 : -1.51 : Estimated northing and easting = 4074759.18 : 590579.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160258.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160257.53,3648.9411,N,-12159.0211,W,1,03,00.5,1000.0,M,-99.9,M,,*79 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160259.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160258.53,3648.9413,N,-12159.0203,W,1,03,00.5,1000.0,M,-99.9,M,,*77 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160300.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160259.53,3648.9415,N,-12159.0195,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 1385.995053 : TerrainNav update at dvl time = 1385.995053 : _navData-> (x,y) = (4074908.72, 590649.69) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1386.00 : -150.79 : Estimated East Bias at time = 1386.00 : -66.88 : Estimated Depth Bias at time = 1386.00 : -1.51 : Estimated northing and easting = 4074757.94 : 590582.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160301.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160300.53,3648.9417,N,-12159.0187,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160302.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160301.53,3648.9419,N,-12159.0179,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,160303.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160302.53,3648.9421,N,-12159.0171,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : TerrainNav update at nav time = 1388.994847 : TerrainNav update at dvl time = 1388.994847 : _navData-> (x,y) = (4074909.78, 590653.35) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1388.99 : -153.09 : Estimated East Bias at time = 1388.99 : -67.07 : Estimated Depth Bias at time = 1388.99 : -1.51 : Estimated northing and easting = 4074756.69 : 590586.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160304.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160303.53,3648.9422,N,-12159.0162,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : NMEA Update: $GPGGA,160304.34,3648.9423,N,-12159.0155,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,160305.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160305.34,3648.9424,N,-12159.0147,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,160306.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1391.994642 : TerrainNav update at dvl time = 1391.994642 : _navData-> (x,y) = (4074910.53, 590657.12) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1391.99 : -155.44 : Estimated East Bias at time = 1391.99 : -67.29 : Estimated Depth Bias at time = 1391.99 : -1.51 : Estimated northing and easting = 4074755.08 : 590589.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160306.34,3648.9425,N,-12159.0138,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,160307.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160307.34,3648.9426,N,-12159.0130,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,160308.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160308.34,3648.9427,N,-12159.0122,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,160309.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1394.994436 : TerrainNav update at dvl time = 1394.994436 : _navData-> (x,y) = (4074910.98, 590660.79) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1394.99 : -157.61 : Estimated East Bias at time = 1394.99 : -67.67 : Estimated Depth Bias at time = 1394.99 : -1.51 : Estimated northing and easting = 4074753.37 : 590593.12 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160309.34,3648.9427,N,-12159.0113,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,160310.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160310.34,3648.9427,N,-12159.0104,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,160311.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160311.34,3648.9428,N,-12159.0095,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,160312.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1397.994231 : TerrainNav update at dvl time = 1397.994231 : _navData-> (x,y) = (4074911.07, 590664.81) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1397.99 : -159.26 : Estimated East Bias at time = 1397.99 : -68.74 : Estimated Depth Bias at time = 1397.99 : -1.51 : Estimated northing and easting = 4074751.82 : 590596.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160312.34,3648.9428,N,-12159.0086,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,160313.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160313.34,3648.9427,N,-12159.0078,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,160314.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160314.34,3648.9427,N,-12159.0069,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,160315.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1400.994025 : TerrainNav update at dvl time = 1400.994025 : _navData-> (x,y) = (4074910.99, 590668.72) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1400.99 : -161.48 : Estimated East Bias at time = 1400.99 : -69.56 : Estimated Depth Bias at time = 1400.99 : -1.51 : Estimated northing and easting = 4074749.51 : 590599.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160315.34,3648.9427,N,-12159.0060,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,160316.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160316.34,3648.9426,N,-12159.0051,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,160317.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160317.34,3648.9425,N,-12159.0042,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,160318.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1403.993820 : TerrainNav update at dvl time = 1403.993820 : _navData-> (x,y) = (4074910.61, 590672.73) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1403.99 : -163.32 : Estimated East Bias at time = 1403.99 : -70.54 : Estimated Depth Bias at time = 1403.99 : -1.51 : Estimated northing and easting = 4074747.29 : 590602.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160318.34,3648.9424,N,-12159.0033,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,160319.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160319.34,3648.9423,N,-12159.0024,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : AshtechGps::processRecord() - $GPGGA,160320.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160320.34,3648.9422,N,-12159.0015,W,1,03,00.5,1000.0,M,-99.9,M,,*7f : AshtechGps::processRecord() - $GPGGA,160321.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1406.993614 : TerrainNav update at dvl time = 1406.993614 : _navData-> (x,y) = (4074910.07, 590676.85) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1406.99 : -165.63 : Estimated East Bias at time = 1406.99 : -71.67 : Estimated Depth Bias at time = 1406.99 : -1.51 : Estimated northing and easting = 4074744.44 : 590605.19 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160321.34,3648.9421,N,-12159.0005,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,160322.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160322.33,3648.9420,N,-12158.9996,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,160323.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160323.33,3648.9418,N,-12158.9987,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,160324.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1409.993409 : TerrainNav update at dvl time = 1409.993409 : _navData-> (x,y) = (4074909.27, 590680.91) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1409.99 : -167.86 : Estimated East Bias at time = 1409.99 : -72.86 : Estimated Depth Bias at time = 1409.99 : -1.51 : Estimated northing and easting = 4074741.42 : 590608.06 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160324.33,3648.9416,N,-12158.9978,W,1,03,00.5,1000.0,M,-99.9,M,,*71 : AshtechGps::processRecord() - $GPGGA,160325.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160325.33,3648.9415,N,-12158.9970,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,160326.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160326.33,3648.9414,N,-12158.9965,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : AshtechGps::processRecord() - $GPGGA,160327.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1412.993203 : TerrainNav update at dvl time = 1412.993203 : _navData-> (x,y) = (4074908.63, 590684.18) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160327.33,3648.9412,N,-12158.9956,W,1,03,00.5,1000.0,M,-99.9,M,,*7a : AshtechGps::processRecord() - $GPGGA,160328.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1412.99 : -168.02 : Estimated East Bias at time = 1412.99 : -71.96 : Estimated Depth Bias at time = 1412.99 : -1.51 : Estimated northing and easting = 4074740.60 : 590612.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160328.33,3648.9410,N,-12158.9947,W,1,03,00.5,017.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160329.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=239.84 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160329.33,3648.9408,N,-12158.9938,W,1,03,00.5,017.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160330.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1416.002997 : TerrainNav update at dvl time = 1416.002997 : _navData-> (x,y) = (4074907.45, 590688.32) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=239.48 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160330.33,3648.9406,N,-12158.9928,W,1,03,00.5,016.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160331.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1416.00 : -168.96 : Estimated East Bias at time = 1416.00 : -73.40 : Estimated Depth Bias at time = 1416.00 : -1.51 : Estimated northing and easting = 4074738.49 : 590614.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160331.33,3648.9403,N,-12158.9919,W,1,03,00.5,015.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160332.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=238.94 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160332.33,3648.9401,N,-12158.9911,W,1,03,00.5,014.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160333.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=238.13 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1419.002792 : TerrainNav update at dvl time = 1419.002792 : _navData-> (x,y) = (4074906.24, 590692.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160333.33,3648.9399,N,-12158.9903,W,1,03,00.5,013.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160334.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1419.00 : -169.50 : Estimated East Bias at time = 1419.00 : -73.69 : Estimated Depth Bias at time = 1419.00 : -1.50 : Estimated northing and easting = 4074736.74 : 590618.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=237.76 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,160334.33,3648.9398,N,-12158.9895,W,1,03,00.5,012.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160335.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160335.33,3648.9395,N,-12158.9886,W,1,03,00.5,011.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160336.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=237.52 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1422.002586 : TerrainNav update at dvl time = 1422.002586 : _navData-> (x,y) = (4074905.21, 590696.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160336.33,3648.9393,N,-12158.9877,W,1,03,00.5,011.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160337.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1422.00 : -169.65 : Estimated East Bias at time = 1422.00 : -74.34 : LayeredControl _resolvedCommand - vertMode=2 vert=237.07 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : Estimated Depth Bias at time = 1422.00 : -1.50 : Estimated northing and easting = 4074735.57 : 590621.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160337.33,3648.9391,N,-12158.9868,W,1,03,00.5,010.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160338.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.980196. Allowable altitude = 10.000000. t= 1469.60. Stopping! : NMEA Update: $GPGGA,160338.33,3648.9389,N,-12158.9858,W,1,03,00.5,010.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160339.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.980196. Allowable altitude = 10.000000. t= 1469.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 9.980196. Allowable altitude = 10.000000. t= 1470.00. Stopping! : DepthEnvelope -- Measured altitude = 9.650772. Allowable altitude = 10.000000. t= 1470.20. Stopping! : TerrainNav update at nav time = 1425.002381 : TerrainNav update at dvl time = 1425.002381 : _navData-> (x,y) = (4074903.98, 590700.15) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 9.650772. Allowable altitude = 10.000000. t= 1470.40. Stopping! : DepthEnvelope -- Measured altitude = 9.650772. Allowable altitude = 10.000000. t= 1470.60. Stopping! : NMEA Update: $GPGGA,160339.33,3648.9386,N,-12158.9849,W,1,03,00.5,009.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160340.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.166808. Allowable altitude = 10.000000. t= 1470.80. Stopping! : DepthEnvelope -- Measured altitude = 9.166808. Allowable altitude = 10.000000. t= 1471.00. Stopping! : DepthEnvelope -- Measured altitude = 9.166808. Allowable altitude = 10.000000. t= 1471.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1425.00 : -171.50 : Estimated East Bias at time = 1425.00 : -75.43 : Estimated Depth Bias at time = 1425.00 : -1.50 : Estimated northing and easting = 4074732.48 : 590624.71 : DepthEnvelope -- Measured altitude = 9.014393. Allowable altitude = 10.000000. t= 1471.40. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 9.014393. Allowable altitude = 10.000000. t= 1471.60. Stopping! : NMEA Update: $GPGGA,160340.33,3648.9384,N,-12158.9840,W,1,03,00.5,009.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160341.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.014393. Allowable altitude = 10.000000. t= 1471.80. Stopping! : DepthEnvelope -- Measured altitude = 8.737925. Allowable altitude = 10.000000. t= 1472.00. Stopping! : DepthEnvelope -- Measured altitude = 8.737925. Allowable altitude = 10.000000. t= 1472.20. Stopping! : DepthEnvelope -- Measured altitude = 8.737925. Allowable altitude = 10.000000. t= 1472.40. Stopping! : DepthEnvelope -- Measured altitude = 8.508853. Allowable altitude = 10.000000. t= 1472.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160341.33,3648.9381,N,-12158.9831,W,1,03,00.5,008.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160342.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.508853. Allowable altitude = 10.000000. t= 1472.80. Stopping! : DepthEnvelope -- Measured altitude = 8.508853. Allowable altitude = 10.000000. t= 1473.00. Stopping! : DepthEnvelope -- Measured altitude = 8.409203. Allowable altitude = 10.000000. t= 1473.20. Stopping! : TerrainNav update at nav time = 1428.002175 : TerrainNav update at dvl time = 1428.002175 : _navData-> (x,y) = (4074902.67, 590704.09) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.409203. Allowable altitude = 10.000000. t= 1473.40. Stopping! : DepthEnvelope -- Measured altitude = 8.409203. Allowable altitude = 10.000000. t= 1473.60. Stopping! : NMEA Update: $GPGGA,160342.33,3648.9379,N,-12158.9823,W,1,03,00.5,008.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160343.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.223996. Allowable altitude = 10.000000. t= 1473.80. Stopping! : DepthEnvelope -- Measured altitude = 8.223996. Allowable altitude = 10.000000. t= 1474.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.223996. Allowable altitude = 10.000000. t= 1474.20. Stopping! : DepthEnvelope -- Measured altitude = 8.221897. Allowable altitude = 10.000000. t= 1474.40. Stopping! : Estimated North Bias at time = 1428.00 : -173.36 : Estimated East Bias at time = 1428.00 : -76.26 : Estimated Depth Bias at time = 1428.00 : -1.50 : Estimated northing and easting = 4074729.31 : 590627.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.221897. Allowable altitude = 10.000000. t= 1474.60. Stopping! : NMEA Update: $GPGGA,160343.33,3648.9377,N,-12158.9816,W,1,03,00.5,008.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160344.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.221897. Allowable altitude = 10.000000. t= 1474.80. Stopping! : DepthEnvelope -- Measured altitude = 8.109921. Allowable altitude = 10.000000. t= 1475.00. Stopping! : DepthEnvelope -- Measured altitude = 8.109921. Allowable altitude = 10.000000. t= 1475.20. Stopping! : DepthEnvelope -- Measured altitude = 8.109921. Allowable altitude = 10.000000. t= 1475.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.098031. Allowable altitude = 10.000000. t= 1475.60. Stopping! : NMEA Update: $GPGGA,160344.33,3648.9375,N,-12158.9808,W,1,03,00.5,008.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160345.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.098031. Allowable altitude = 10.000000. t= 1475.80. Stopping! : DepthEnvelope -- Measured altitude = 8.098031. Allowable altitude = 10.000000. t= 1476.00. Stopping! : DepthEnvelope -- Measured altitude = 8.041409. Allowable altitude = 10.000000. t= 1476.20. Stopping! : TerrainNav update at nav time = 1431.001970 : TerrainNav update at dvl time = 1431.001970 : _navData-> (x,y) = (4074901.58, 590707.39) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.041409. Allowable altitude = 10.000000. t= 1476.40. Stopping! : DepthEnvelope -- Measured altitude = 8.041409. Allowable altitude = 10.000000. t= 1476.60. Stopping! : NMEA Update: $GPGGA,160345.33,3648.9373,N,-12158.9802,W,1,03,00.5,008.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160346.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.078138. Allowable altitude = 10.000000. t= 1476.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.078138. Allowable altitude = 10.000000. t= 1477.00. Stopping! : DepthEnvelope -- Measured altitude = 8.078138. Allowable altitude = 10.000000. t= 1477.20. Stopping! : Estimated North Bias at time = 1431.00 : -175.09 : Estimated East Bias at time = 1431.00 : -76.97 : Estimated Depth Bias at time = 1431.00 : -1.49 : Estimated northing and easting = 4074726.49 : 590630.42 : DepthEnvelope -- Measured altitude = 8.116671. Allowable altitude = 10.000000. t= 1477.40. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.116671. Allowable altitude = 10.000000. t= 1477.60. Stopping! : NMEA Update: $GPGGA,160346.33,3648.9371,N,-12158.9795,W,1,03,00.5,008.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160347.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.116671. Allowable altitude = 10.000000. t= 1477.80. Stopping! : DepthEnvelope -- Measured altitude = 8.139382. Allowable altitude = 10.000000. t= 1478.00. Stopping! : DepthEnvelope -- Measured altitude = 8.139382. Allowable altitude = 10.000000. t= 1478.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.139382. Allowable altitude = 10.000000. t= 1478.40. Stopping! : DepthEnvelope -- Measured altitude = 8.161022. Allowable altitude = 10.000000. t= 1478.60. Stopping! : NMEA Update: $GPGGA,160347.33,3648.9370,N,-12158.9789,W,1,03,00.5,008.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160348.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.161022. Allowable altitude = 10.000000. t= 1478.80. Stopping! : DepthEnvelope -- Measured altitude = 8.161022. Allowable altitude = 10.000000. t= 1479.00. Stopping! : DepthEnvelope -- Measured altitude = 8.256477. Allowable altitude = 10.000000. t= 1479.20. Stopping! : TerrainNav update at nav time = 1434.001764 : TerrainNav update at dvl time = 1434.001764 : _navData-> (x,y) = (4074900.70, 590710.25) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.256477. Allowable altitude = 10.000000. t= 1479.40. Stopping! : DepthEnvelope -- Measured altitude = 8.256477. Allowable altitude = 10.000000. t= 1479.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160348.33,3648.9368,N,-12158.9783,W,1,03,00.5,008.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160349.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.406767. Allowable altitude = 10.000000. t= 1479.80. Stopping! : DepthEnvelope -- Measured altitude = 8.406767. Allowable altitude = 10.000000. t= 1480.00. Stopping! : DepthEnvelope -- Measured altitude = 8.406767. Allowable altitude = 10.000000. t= 1480.20. Stopping! : DepthEnvelope -- Measured altitude = 8.532165. Allowable altitude = 10.000000. t= 1480.40. Stopping! : Estimated North Bias at time = 1434.00 : -176.49 : Estimated East Bias at time = 1434.00 : -77.71 : Estimated Depth Bias at time = 1434.00 : -1.49 : Estimated northing and easting = 4074724.21 : 590632.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.532165. Allowable altitude = 10.000000. t= 1480.60. Stopping! : NMEA Update: $GPGGA,160349.33,3648.9367,N,-12158.9777,W,1,03,00.5,008.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160350.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.532165. Allowable altitude = 10.000000. t= 1480.80. Stopping! : DepthEnvelope -- Measured altitude = 8.573800. Allowable altitude = 10.000000. t= 1481.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.573800. Allowable altitude = 10.000000. t= 1481.20. Stopping! : DepthEnvelope -- Measured altitude = 8.573800. Allowable altitude = 10.000000. t= 1481.40. Stopping! : DepthEnvelope -- Measured altitude = 8.805616. Allowable altitude = 10.000000. t= 1481.60. Stopping! : NMEA Update: $GPGGA,160350.33,3648.9366,N,-12158.9771,W,1,03,00.5,008.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160351.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.805616. Allowable altitude = 10.000000. t= 1481.80. Stopping! : DepthEnvelope -- Measured altitude = 8.805616. Allowable altitude = 10.000000. t= 1482.00. Stopping! : DepthEnvelope -- Measured altitude = 8.846969. Allowable altitude = 10.000000. t= 1482.20. Stopping! : TerrainNav update at nav time = 1437.001559 : TerrainNav update at dvl time = 1437.001559 : _navData-> (x,y) = (4074899.97, 590712.83) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.846969. Allowable altitude = 10.000000. t= 1482.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.846969. Allowable altitude = 10.000000. t= 1482.60. Stopping! : NMEA Update: $GPGGA,160351.33,3648.9364,N,-12158.9766,W,1,03,00.5,008.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160352.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.891199. Allowable altitude = 10.000000. t= 1482.80. Stopping! : DepthEnvelope -- Measured altitude = 8.891199. Allowable altitude = 10.000000. t= 1483.00. Stopping! : DepthEnvelope -- Measured altitude = 8.891199. Allowable altitude = 10.000000. t= 1483.20. Stopping! : DepthEnvelope -- Measured altitude = 9.087516. Allowable altitude = 10.000000. t= 1483.40. Stopping! : Estimated North Bias at time = 1437.00 : -177.75 : Estimated East Bias at time = 1437.00 : -78.28 : Estimated Depth Bias at time = 1437.00 : -1.49 : Estimated northing and easting = 4074722.23 : 590634.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 9.087516. Allowable altitude = 10.000000. t= 1483.60. Stopping! : NMEA Update: $GPGGA,160352.33,3648.9363,N,-12158.9760,W,1,03,00.5,009.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160353.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.087516. Allowable altitude = 10.000000. t= 1483.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 9.238774. Allowable altitude = 10.000000. t= 1484.00. Stopping! : DepthEnvelope -- Measured altitude = 9.238774. Allowable altitude = 10.000000. t= 1484.20. Stopping! : DepthEnvelope -- Measured altitude = 9.238774. Allowable altitude = 10.000000. t= 1484.40. Stopping! : DepthEnvelope -- Measured altitude = 9.198792. Allowable altitude = 10.000000. t= 1484.60. Stopping! : NMEA Update: $GPGGA,160353.33,3648.9362,N,-12158.9754,W,1,03,00.5,009.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160354.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.198792. Allowable altitude = 10.000000. t= 1484.80. Stopping! : DepthEnvelope -- Measured altitude = 9.198792. Allowable altitude = 10.000000. t= 1485.00. Stopping! : DepthEnvelope -- Measured altitude = 9.376723. Allowable altitude = 10.000000. t= 1485.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1440.001353 : TerrainNav update at dvl time = 1440.001353 : _navData-> (x,y) = (4074899.35, 590715.33) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 9.376723. Allowable altitude = 10.000000. t= 1485.40. Stopping! : DepthEnvelope -- Measured altitude = 9.376723. Allowable altitude = 10.000000. t= 1485.60. Stopping! : NMEA Update: $GPGGA,160354.33,3648.9361,N,-12158.9749,W,1,03,00.5,009.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160355.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.690864. Allowable altitude = 10.000000. t= 1485.80. Stopping! : DepthEnvelope -- Measured altitude = 9.690864. Allowable altitude = 10.000000. t= 1486.00. Stopping! : DepthEnvelope -- Measured altitude = 9.690864. Allowable altitude = 10.000000. t= 1486.20. Stopping! : Estimated North Bias at time = 1440.00 : -178.57 : Estimated East Bias at time = 1440.00 : -78.52 : Estimated Depth Bias at time = 1440.00 : -1.48 : Estimated northing and easting = 4074720.78 : 590636.80 : DepthEnvelope -- Measured altitude = 9.736765. Allowable altitude = 10.000000. t= 1486.40. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 9.736765. Allowable altitude = 10.000000. t= 1486.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160355.33,3648.9360,N,-12158.9744,W,1,03,00.5,009.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160356.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.736765. Allowable altitude = 10.000000. t= 1486.80. Stopping! : DepthEnvelope -- Measured altitude = 9.664429. Allowable altitude = 10.000000. t= 1487.00. Stopping! : DepthEnvelope -- Measured altitude = 9.664429. Allowable altitude = 10.000000. t= 1487.20. Stopping! : DepthEnvelope -- Measured altitude = 9.664429. Allowable altitude = 10.000000. t= 1487.40. Stopping! : DepthEnvelope -- Measured altitude = 9.876229. Allowable altitude = 10.000000. t= 1487.60. Stopping! : NMEA Update: $GPGGA,160356.33,3648.9359,N,-12158.9739,W,1,03,00.5,009.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160357.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.876229. Allowable altitude = 10.000000. t= 1487.80. Stopping! : DepthEnvelope -- Measured altitude = 9.876229. Allowable altitude = 10.000000. t= 1488.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 9.895335. Allowable altitude = 10.000000. t= 1488.20. Stopping! : TerrainNav update at nav time = 1443.001148 : TerrainNav update at dvl time = 1443.001148 : _navData-> (x,y) = (4074898.80, 590717.64) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 9.895335. Allowable altitude = 10.000000. t= 1488.40. Stopping! : DepthEnvelope -- Measured altitude = 9.895335. Allowable altitude = 10.000000. t= 1488.60. Stopping! : NMEA Update: $GPGGA,160357.33,3648.9358,N,-12158.9734,W,1,03,00.5,009.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160358.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1443.00 : -179.49 : Estimated East Bias at time = 1443.00 : -78.52 : Estimated Depth Bias at time = 1443.00 : -1.48 : Estimated northing and easting = 4074719.31 : 590639.12 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160358.33,3648.9357,N,-12158.9729,W,1,03,00.5,010.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160359.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160359.33,3648.9356,N,-12158.9724,W,1,03,00.5,010.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160400.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1446.000942 : TerrainNav update at dvl time = 1446.000942 : _navData-> (x,y) = (4074898.31, 590719.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160400.33,3648.9355,N,-12158.9720,W,1,03,00.5,010.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160401.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1446.00 : -180.25 : Estimated East Bias at time = 1446.00 : -78.53 : Estimated Depth Bias at time = 1446.00 : -1.48 : Estimated northing and easting = 4074718.06 : 590641.14 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160401.33,3648.9354,N,-12158.9717,W,1,03,00.5,010.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160402.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.295257. Allowable altitude = 10.000000. t= 1493.00. Stopping! : DepthEnvelope -- Measured altitude = 9.295257. Allowable altitude = 10.000000. t= 1493.20. Stopping! : DepthEnvelope -- Measured altitude = 9.295257. Allowable altitude = 10.000000. t= 1493.40. Stopping! : DepthEnvelope -- Measured altitude = 9.343089. Allowable altitude = 10.000000. t= 1493.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160402.33,3648.9354,N,-12158.9713,W,1,03,00.5,009.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160403.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.343089. Allowable altitude = 10.000000. t= 1493.80. Stopping! : DepthEnvelope -- Measured altitude = 9.343089. Allowable altitude = 10.000000. t= 1494.00. Stopping! : DepthEnvelope -- Measured altitude = 9.241486. Allowable altitude = 10.000000. t= 1494.20. Stopping! : TerrainNav update at nav time = 1449.000736 : TerrainNav update at dvl time = 1449.000736 : _navData-> (x,y) = (4074897.90, 590721.23) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 9.241486. Allowable altitude = 10.000000. t= 1494.40. Stopping! : DepthEnvelope -- Measured altitude = 9.241486. Allowable altitude = 10.000000. t= 1494.60. Stopping! : NMEA Update: $GPGGA,160403.33,3648.9353,N,-12158.9710,W,1,03,00.5,009.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160404.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.175726. Allowable altitude = 10.000000. t= 1494.80. Stopping! : DepthEnvelope -- Measured altitude = 9.175726. Allowable altitude = 10.000000. t= 1495.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 9.175726. Allowable altitude = 10.000000. t= 1495.20. Stopping! : Estimated North Bias at time = 1449.00 : -180.76 : Estimated East Bias at time = 1449.00 : -78.39 : Estimated Depth Bias at time = 1449.00 : -1.48 : Estimated northing and easting = 4074717.15 : 590642.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 9.138113. Allowable altitude = 10.000000. t= 1495.40. Stopping! : DepthEnvelope -- Measured altitude = 9.138113. Allowable altitude = 10.000000. t= 1495.60. Stopping! : NMEA Update: $GPGGA,160404.33,3648.9352,N,-12158.9707,W,1,03,00.5,009.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160405.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.138113. Allowable altitude = 10.000000. t= 1495.80. Stopping! : DepthEnvelope -- Measured altitude = 9.108262. Allowable altitude = 10.000000. t= 1496.00. Stopping! : DepthEnvelope -- Measured altitude = 9.108262. Allowable altitude = 10.000000. t= 1496.20. Stopping! : DepthEnvelope -- Measured altitude = 9.108262. Allowable altitude = 10.000000. t= 1496.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.965811. Allowable altitude = 10.000000. t= 1496.60. Stopping! : NMEA Update: $GPGGA,160405.33,3648.9352,N,-12158.9704,W,1,03,00.5,009.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160406.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.965811. Allowable altitude = 10.000000. t= 1496.80. Stopping! : DepthEnvelope -- Measured altitude = 8.965811. Allowable altitude = 10.000000. t= 1497.00. Stopping! : DepthEnvelope -- Measured altitude = 8.885707. Allowable altitude = 10.000000. t= 1497.20. Stopping! : TerrainNav update at nav time = 1452.000531 : TerrainNav update at dvl time = 1452.000531 : _navData-> (x,y) = (4074897.60, 590722.58) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.885707. Allowable altitude = 10.000000. t= 1497.40. Stopping! : DepthEnvelope -- Measured altitude = 8.885707. Allowable altitude = 10.000000. t= 1497.60. Stopping! : NMEA Update: $GPGGA,160406.33,3648.9351,N,-12158.9701,W,1,03,00.5,008.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160407.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.983419. Allowable altitude = 10.000000. t= 1497.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.983419. Allowable altitude = 10.000000. t= 1498.00. Stopping! : DepthEnvelope -- Measured altitude = 8.983419. Allowable altitude = 10.000000. t= 1498.20. Stopping! : Estimated North Bias at time = 1452.00 : -181.22 : Estimated East Bias at time = 1452.00 : -78.54 : Estimated Depth Bias at time = 1452.00 : -1.47 : Estimated northing and easting = 4074716.38 : 590644.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.662431. Allowable altitude = 10.000000. t= 1498.40. Stopping! : DepthEnvelope -- Measured altitude = 8.662431. Allowable altitude = 10.000000. t= 1498.60. Stopping! : NMEA Update: $GPGGA,160407.33,3648.9350,N,-12158.9699,W,1,03,00.5,008.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160408.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.662431. Allowable altitude = 10.000000. t= 1498.80. Stopping! : DepthEnvelope -- Measured altitude = 8.746776. Allowable altitude = 10.000000. t= 1499.00. Stopping! : DepthEnvelope -- Measured altitude = 8.746776. Allowable altitude = 10.000000. t= 1499.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.746776. Allowable altitude = 10.000000. t= 1499.40. Stopping! : DepthEnvelope -- Measured altitude = 8.416157. Allowable altitude = 10.000000. t= 1499.60. Stopping! : NMEA Update: $GPGGA,160408.33,3648.9350,N,-12158.9697,W,1,03,00.5,008.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160409.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.416157. Allowable altitude = 10.000000. t= 1499.80. Stopping! : DepthEnvelope -- Measured altitude = 8.416157. Allowable altitude = 10.000000. t= 1500.00. Stopping! : DepthEnvelope -- Measured altitude = 8.345358. Allowable altitude = 10.000000. t= 1500.20. Stopping! : TerrainNav update at nav time = 1455.000325 : TerrainNav update at dvl time = 1455.000325 : _navData-> (x,y) = (4074897.21, 590723.62) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.345358. Allowable altitude = 10.000000. t= 1500.40. Stopping! : DepthEnvelope -- Measured altitude = 8.345358. Allowable altitude = 10.000000. t= 1500.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160409.33,3648.9349,N,-12158.9695,W,1,03,00.5,008.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160410.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.211863. Allowable altitude = 10.000000. t= 1500.80. Stopping! : DepthEnvelope -- Measured altitude = 8.211863. Allowable altitude = 10.000000. t= 1501.00. Stopping! : DepthEnvelope -- Measured altitude = 8.211863. Allowable altitude = 10.000000. t= 1501.20. Stopping! : Estimated North Bias at time = 1455.00 : -181.31 : Estimated East Bias at time = 1455.00 : -78.34 : Estimated Depth Bias at time = 1455.00 : -1.47 : Estimated northing and easting = 4074715.89 : 590645.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.108193. Allowable altitude = 10.000000. t= 1501.40. Stopping! : DepthEnvelope -- Measured altitude = 8.108193. Allowable altitude = 10.000000. t= 1501.60. Stopping! : NMEA Update: $GPGGA,160410.33,3648.9348,N,-12158.9692,W,1,03,00.5,008.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160411.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.108193. Allowable altitude = 10.000000. t= 1501.80. Stopping! : DepthEnvelope -- Measured altitude = 8.046817. Allowable altitude = 10.000000. t= 1502.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.046817. Allowable altitude = 10.000000. t= 1502.20. Stopping! : DepthEnvelope -- Measured altitude = 8.046817. Allowable altitude = 10.000000. t= 1502.40. Stopping! : DepthEnvelope -- Measured altitude = 8.024521. Allowable altitude = 10.000000. t= 1502.60. Stopping! : NMEA Update: $GPGGA,160411.33,3648.9348,N,-12158.9689,W,1,03,00.5,008.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160412.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.024521. Allowable altitude = 10.000000. t= 1502.80. Stopping! : DepthEnvelope -- Measured altitude = 8.024521. Allowable altitude = 10.000000. t= 1503.00. Stopping! : DepthEnvelope -- Measured altitude = 7.906440. Allowable altitude = 10.000000. t= 1503.20. Stopping! : TerrainNav update at nav time = 1458.000120 : TerrainNav update at dvl time = 1458.000120 : _navData-> (x,y) = (4074896.84, 590724.76) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 7.906440. Allowable altitude = 10.000000. t= 1503.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 7.906440. Allowable altitude = 10.000000. t= 1503.60. Stopping! : NMEA Update: $GPGGA,160412.33,3648.9347,N,-12158.9687,W,1,03,00.5,007.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160413.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 7.817557. Allowable altitude = 10.000000. t= 1503.80. Stopping! : DepthEnvelope -- Measured altitude = 7.817557. Allowable altitude = 10.000000. t= 1504.00. Stopping! : DepthEnvelope -- Measured altitude = 7.817557. Allowable altitude = 10.000000. t= 1504.20. Stopping! : Estimated North Bias at time = 1458.00 : -181.31 : Estimated East Bias at time = 1458.00 : -78.36 : Estimated Depth Bias at time = 1458.00 : -1.47 : Estimated northing and easting = 4074715.52 : 590646.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 7.760361. Allowable altitude = 10.000000. t= 1504.40. Stopping! : DepthEnvelope -- Measured altitude = 7.760361. Allowable altitude = 10.000000. t= 1504.60. Stopping! : NMEA Update: $GPGGA,160413.33,3648.9346,N,-12158.9685,W,1,03,00.5,007.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160414.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 7.760361. Allowable altitude = 10.000000. t= 1504.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 7.715830. Allowable altitude = 10.000000. t= 1505.00. Stopping! : DepthEnvelope -- Measured altitude = 7.715830. Allowable altitude = 10.000000. t= 1505.20. Stopping! : DepthEnvelope -- Measured altitude = 7.715830. Allowable altitude = 10.000000. t= 1505.40. Stopping! : DepthEnvelope -- Measured altitude = 7.697054. Allowable altitude = 10.000000. t= 1505.60. Stopping! : NMEA Update: $GPGGA,160414.33,3648.9345,N,-12158.9684,W,1,03,00.5,007.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160415.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 7.697054. Allowable altitude = 10.000000. t= 1505.80. Stopping! : DepthEnvelope -- Measured altitude = 7.697054. Allowable altitude = 10.000000. t= 1506.00. Stopping! : DepthEnvelope -- Measured altitude = 7.585830. Allowable altitude = 10.000000. t= 1506.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1460.999915 : TerrainNav update at dvl time = 1460.999915 : _navData-> (x,y) = (4074896.39, 590725.56) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 7.585830. Allowable altitude = 10.000000. t= 1506.40. Stopping! : DepthEnvelope -- Measured altitude = 7.585830. Allowable altitude = 10.000000. t= 1506.60. Stopping! : NMEA Update: $GPGGA,160415.33,3648.9345,N,-12158.9682,W,1,03,00.5,007.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160416.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 7.706189. Allowable altitude = 10.000000. t= 1506.80. Stopping! : DepthEnvelope -- Measured altitude = 7.706189. Allowable altitude = 10.000000. t= 1507.00. Stopping! : DepthEnvelope -- Measured altitude = 7.706189. Allowable altitude = 10.000000. t= 1507.20. Stopping! : Estimated North Bias at time = 1461.00 : -181.42 : Estimated East Bias at time = 1461.00 : -78.33 : Estimated Depth Bias at time = 1461.00 : -1.47 : Estimated northing and easting = 4074714.97 : 590647.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 7.547197. Allowable altitude = 10.000000. t= 1507.40. Stopping! : DepthEnvelope -- Measured altitude = 7.547197. Allowable altitude = 10.000000. t= 1507.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160416.33,3648.9344,N,-12158.9680,W,1,03,00.5,007.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160417.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 7.547197. Allowable altitude = 10.000000. t= 1507.80. Stopping! : DepthEnvelope -- Measured altitude = 7.588334. Allowable altitude = 10.000000. t= 1508.00. Stopping! : DepthEnvelope -- Measured altitude = 7.588334. Allowable altitude = 10.000000. t= 1508.20. Stopping! : DepthEnvelope -- Measured altitude = 7.588334. Allowable altitude = 10.000000. t= 1508.40. Stopping! : DepthEnvelope -- Measured altitude = 8.136181. Allowable altitude = 10.000000. t= 1508.60. Stopping! : NMEA Update: $GPGGA,160417.33,3648.9343,N,-12158.9678,W,1,03,00.5,008.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160418.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.136181. Allowable altitude = 10.000000. t= 1508.80. Stopping! : DepthEnvelope -- Measured altitude = 8.136181. Allowable altitude = 10.000000. t= 1509.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.172339. Allowable altitude = 10.000000. t= 1509.20. Stopping! : TerrainNav update at nav time = 1463.999709 : TerrainNav update at dvl time = 1463.999709 : _navData-> (x,y) = (4074896.11, 590726.38) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.172339. Allowable altitude = 10.000000. t= 1509.40. Stopping! : DepthEnvelope -- Measured altitude = 8.172339. Allowable altitude = 10.000000. t= 1509.60. Stopping! : NMEA Update: $GPGGA,160418.33,3648.9343,N,-12158.9676,W,1,03,00.5,008.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160419.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.132182. Allowable altitude = 10.000000. t= 1509.80. Stopping! : DepthEnvelope -- Measured altitude = 8.132182. Allowable altitude = 10.000000. t= 1510.00. Stopping! : DepthEnvelope -- Measured altitude = 8.132182. Allowable altitude = 10.000000. t= 1510.20. Stopping! : Estimated North Bias at time = 1464.00 : -181.16 : Estimated East Bias at time = 1464.00 : -78.48 : Estimated Depth Bias at time = 1464.00 : -1.46 : Estimated northing and easting = 4074714.95 : 590647.90 : DepthEnvelope -- Measured altitude = 8.174325. Allowable altitude = 10.000000. t= 1510.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.174325. Allowable altitude = 10.000000. t= 1510.60. Stopping! : NMEA Update: $GPGGA,160419.33,3648.9342,N,-12158.9675,W,1,03,00.5,008.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160420.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.174325. Allowable altitude = 10.000000. t= 1510.80. Stopping! : DepthEnvelope -- Measured altitude = 8.050227. Allowable altitude = 10.000000. t= 1511.00. Stopping! : DepthEnvelope -- Measured altitude = 8.050227. Allowable altitude = 10.000000. t= 1511.20. Stopping! : DepthEnvelope -- Measured altitude = 8.050227. Allowable altitude = 10.000000. t= 1511.40. Stopping! : DepthEnvelope -- Measured altitude = 7.970869. Allowable altitude = 10.000000. t= 1511.60. Stopping! : NMEA Update: $GPGGA,160420.33,3648.9342,N,-12158.9673,W,1,03,00.5,008.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160421.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 7.970869. Allowable altitude = 10.000000. t= 1511.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 7.970869. Allowable altitude = 10.000000. t= 1512.00. Stopping! : DepthEnvelope -- Measured altitude = 8.083014. Allowable altitude = 10.000000. t= 1512.20. Stopping! : TerrainNav update at nav time = 1466.999504 : TerrainNav update at dvl time = 1466.999504 : _navData-> (x,y) = (4074895.82, 590727.14) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.083014. Allowable altitude = 10.000000. t= 1512.40. Stopping! : DepthEnvelope -- Measured altitude = 8.083014. Allowable altitude = 10.000000. t= 1512.60. Stopping! : NMEA Update: $GPGGA,160421.33,3648.9341,N,-12158.9671,W,1,03,00.5,008.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160422.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.122759. Allowable altitude = 10.000000. t= 1512.80. Stopping! : DepthEnvelope -- Measured altitude = 8.122759. Allowable altitude = 10.000000. t= 1513.00. Stopping! : DepthEnvelope -- Measured altitude = 8.122759. Allowable altitude = 10.000000. t= 1513.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1467.00 : -181.31 : Estimated East Bias at time = 1467.00 : -78.50 : Estimated Depth Bias at time = 1467.00 : -1.46 : Estimated northing and easting = 4074714.52 : 590648.64 : DepthEnvelope -- Measured altitude = 8.162290. Allowable altitude = 10.000000. t= 1513.40. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.162290. Allowable altitude = 10.000000. t= 1513.60. Stopping! : NMEA Update: $GPGGA,160422.33,3648.9341,N,-12158.9670,W,1,03,00.5,008.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160423.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.162290. Allowable altitude = 10.000000. t= 1513.80. Stopping! : DepthEnvelope -- Measured altitude = 8.104322. Allowable altitude = 10.000000. t= 1514.00. Stopping! : DepthEnvelope -- Measured altitude = 8.104322. Allowable altitude = 10.000000. t= 1514.20. Stopping! : DepthEnvelope -- Measured altitude = 8.104322. Allowable altitude = 10.000000. t= 1514.40. Stopping! : DepthEnvelope -- Measured altitude = 8.138177. Allowable altitude = 10.000000. t= 1514.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160423.33,3648.9340,N,-12158.9668,W,1,03,00.5,008.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160424.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.138177. Allowable altitude = 10.000000. t= 1514.80. Stopping! : DepthEnvelope -- Measured altitude = 8.138177. Allowable altitude = 10.000000. t= 1515.00. Stopping! : DepthEnvelope -- Measured altitude = 8.155928. Allowable altitude = 10.000000. t= 1515.20. Stopping! : TerrainNav update at nav time = 1469.999298 : TerrainNav update at dvl time = 1469.999298 : _navData-> (x,y) = (4074895.60, 590727.84) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.155928. Allowable altitude = 10.000000. t= 1515.40. Stopping! : DepthEnvelope -- Measured altitude = 8.155928. Allowable altitude = 10.000000. t= 1515.60. Stopping! : NMEA Update: $GPGGA,160424.33,3648.9340,N,-12158.9667,W,1,03,00.5,008.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160425.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.161206. Allowable altitude = 10.000000. t= 1515.80. Stopping! : DepthEnvelope -- Measured altitude = 8.161206. Allowable altitude = 10.000000. t= 1516.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.161206. Allowable altitude = 10.000000. t= 1516.20. Stopping! : Estimated North Bias at time = 1470.00 : -181.60 : Estimated East Bias at time = 1470.00 : -78.49 : Estimated Depth Bias at time = 1470.00 : -1.46 : Estimated northing and easting = 4074714.01 : 590649.34 : DepthEnvelope -- Measured altitude = 8.168935. Allowable altitude = 10.000000. t= 1516.40. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.168935. Allowable altitude = 10.000000. t= 1516.60. Stopping! : NMEA Update: $GPGGA,160425.33,3648.9340,N,-12158.9665,W,1,03,00.5,008.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160426.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.168935. Allowable altitude = 10.000000. t= 1516.80. Stopping! : DepthEnvelope -- Measured altitude = 8.176131. Allowable altitude = 10.000000. t= 1517.00. Stopping! : DepthEnvelope -- Measured altitude = 8.176131. Allowable altitude = 10.000000. t= 1517.20. Stopping! : DepthEnvelope -- Measured altitude = 8.176131. Allowable altitude = 10.000000. t= 1517.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.248422. Allowable altitude = 10.000000. t= 1517.60. Stopping! : NMEA Update: $GPGGA,160426.33,3648.9339,N,-12158.9664,W,1,03,00.5,008.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160427.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.248422. Allowable altitude = 10.000000. t= 1517.80. Stopping! : DepthEnvelope -- Measured altitude = 8.248422. Allowable altitude = 10.000000. t= 1518.00. Stopping! : DepthEnvelope -- Measured altitude = 8.308473. Allowable altitude = 10.000000. t= 1518.20. Stopping! : TerrainNav update at nav time = 1472.999093 : TerrainNav update at dvl time = 1472.999093 : _navData-> (x,y) = (4074895.38, 590728.41) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.308473. Allowable altitude = 10.000000. t= 1518.40. Stopping! : DepthEnvelope -- Measured altitude = 8.308473. Allowable altitude = 10.000000. t= 1518.60. Stopping! : NMEA Update: $GPGGA,160427.33,3648.9339,N,-12158.9663,W,1,03,00.5,008.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160428.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.351148. Allowable altitude = 10.000000. t= 1518.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.351148. Allowable altitude = 10.000000. t= 1519.00. Stopping! : DepthEnvelope -- Measured altitude = 8.351148. Allowable altitude = 10.000000. t= 1519.20. Stopping! : Estimated North Bias at time = 1473.00 : -181.70 : Estimated East Bias at time = 1473.00 : -78.43 : Estimated Depth Bias at time = 1473.00 : -1.46 : Estimated northing and easting = 4074713.68 : 590649.98 : DepthEnvelope -- Measured altitude = 8.304937. Allowable altitude = 10.000000. t= 1519.40. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.304937. Allowable altitude = 10.000000. t= 1519.60. Stopping! : NMEA Update: $GPGGA,160428.33,3648.9339,N,-12158.9662,W,1,03,00.5,008.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160429.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.304937. Allowable altitude = 10.000000. t= 1519.80. Stopping! : DepthEnvelope -- Measured altitude = 8.352489. Allowable altitude = 10.000000. t= 1520.00. Stopping! : DepthEnvelope -- Measured altitude = 8.352489. Allowable altitude = 10.000000. t= 1520.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.352489. Allowable altitude = 10.000000. t= 1520.40. Stopping! : DepthEnvelope -- Measured altitude = 8.385745. Allowable altitude = 10.000000. t= 1520.60. Stopping! : NMEA Update: $GPGGA,160429.33,3648.9338,N,-12158.9660,W,1,03,00.5,008.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160430.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.385745. Allowable altitude = 10.000000. t= 1520.80. Stopping! : DepthEnvelope -- Measured altitude = 8.385745. Allowable altitude = 10.000000. t= 1521.00. Stopping! : DepthEnvelope -- Measured altitude = 8.343507. Allowable altitude = 10.000000. t= 1521.20. Stopping! : TerrainNav update at nav time = 1475.998887 : TerrainNav update at dvl time = 1475.998887 : _navData-> (x,y) = (4074895.24, 590728.97) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.343507. Allowable altitude = 10.000000. t= 1521.40. Stopping! : DepthEnvelope -- Measured altitude = 8.343507. Allowable altitude = 10.000000. t= 1521.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160430.33,3648.9338,N,-12158.9659,W,1,03,00.5,008.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160431.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.385738. Allowable altitude = 10.000000. t= 1521.80. Stopping! : DepthEnvelope -- Measured altitude = 8.385738. Allowable altitude = 10.000000. t= 1522.00. Stopping! : DepthEnvelope -- Measured altitude = 8.385738. Allowable altitude = 10.000000. t= 1522.20. Stopping! : Estimated North Bias at time = 1476.00 : -181.75 : Estimated East Bias at time = 1476.00 : -78.47 : Estimated Depth Bias at time = 1476.00 : -1.46 : Estimated northing and easting = 4074713.50 : 590650.50 : DepthEnvelope -- Measured altitude = 8.423245. Allowable altitude = 10.000000. t= 1522.40. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.423245. Allowable altitude = 10.000000. t= 1522.60. Stopping! : NMEA Update: $GPGGA,160431.33,3648.9338,N,-12158.9658,W,1,03,00.5,008.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160432.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.423245. Allowable altitude = 10.000000. t= 1522.80. Stopping! : DepthEnvelope -- Measured altitude = 8.458621. Allowable altitude = 10.000000. t= 1523.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.458621. Allowable altitude = 10.000000. t= 1523.20. Stopping! : DepthEnvelope -- Measured altitude = 8.458621. Allowable altitude = 10.000000. t= 1523.40. Stopping! : DepthEnvelope -- Measured altitude = 8.482729. Allowable altitude = 10.000000. t= 1523.60. Stopping! : NMEA Update: $GPGGA,160432.33,3648.9338,N,-12158.9657,W,1,03,00.5,008.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160433.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.482729. Allowable altitude = 10.000000. t= 1523.80. Stopping! : DepthEnvelope -- Measured altitude = 8.482729. Allowable altitude = 10.000000. t= 1524.00. Stopping! : DepthEnvelope -- Measured altitude = 8.422126. Allowable altitude = 10.000000. t= 1524.20. Stopping! : TerrainNav update at nav time = 1478.998682 : TerrainNav update at dvl time = 1478.998682 : _navData-> (x,y) = (4074895.09, 590729.45) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.422126. Allowable altitude = 10.000000. t= 1524.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.422126. Allowable altitude = 10.000000. t= 1524.60. Stopping! : NMEA Update: $GPGGA,160433.33,3648.9337,N,-12158.9656,W,1,03,00.5,008.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160434.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.544183. Allowable altitude = 10.000000. t= 1524.80. Stopping! : DepthEnvelope -- Measured altitude = 8.544183. Allowable altitude = 10.000000. t= 1525.00. Stopping! : DepthEnvelope -- Measured altitude = 8.544183. Allowable altitude = 10.000000. t= 1525.20. Stopping! : Estimated North Bias at time = 1479.00 : -181.92 : Estimated East Bias at time = 1479.00 : -78.42 : Estimated Depth Bias at time = 1479.00 : -1.46 : Estimated northing and easting = 4074713.18 : 590651.03 : DepthEnvelope -- Measured altitude = 8.553817. Allowable altitude = 10.000000. t= 1525.40. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.553817. Allowable altitude = 10.000000. t= 1525.60. Stopping! : NMEA Update: $GPGGA,160434.33,3648.9337,N,-12158.9655,W,1,03,00.5,008.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160435.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.553817. Allowable altitude = 10.000000. t= 1525.80. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.561193. Allowable altitude = 10.000000. t= 1526.00. Stopping! : DepthEnvelope -- Measured altitude = 8.561193. Allowable altitude = 10.000000. t= 1526.20. Stopping! : DepthEnvelope -- Measured altitude = 8.561193. Allowable altitude = 10.000000. t= 1526.40. Stopping! : DepthEnvelope -- Measured altitude = 8.646265. Allowable altitude = 10.000000. t= 1526.60. Stopping! : NMEA Update: $GPGGA,160435.33,3648.9337,N,-12158.9654,W,1,03,00.5,008.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160436.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.646265. Allowable altitude = 10.000000. t= 1526.80. Stopping! : DepthEnvelope -- Measured altitude = 8.646265. Allowable altitude = 10.000000. t= 1527.00. Stopping! : DepthEnvelope -- Measured altitude = 8.714529. Allowable altitude = 10.000000. t= 1527.20. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1481.998476 : TerrainNav update at dvl time = 1481.998476 : _navData-> (x,y) = (4074895.02, 590729.85) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.714529. Allowable altitude = 10.000000. t= 1527.40. Stopping! : DepthEnvelope -- Measured altitude = 8.714529. Allowable altitude = 10.000000. t= 1527.60. Stopping! : NMEA Update: $GPGGA,160436.33,3648.9337,N,-12158.9653,W,1,03,00.5,008.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160437.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.766918. Allowable altitude = 10.000000. t= 1527.80. Stopping! : DepthEnvelope -- Measured altitude = 8.766918. Allowable altitude = 10.000000. t= 1528.00. Stopping! : DepthEnvelope -- Measured altitude = 8.766918. Allowable altitude = 10.000000. t= 1528.20. Stopping! : Estimated North Bias at time = 1482.00 : -182.10 : Estimated East Bias at time = 1482.00 : -78.35 : Estimated Depth Bias at time = 1482.00 : -1.46 : Estimated northing and easting = 4074712.92 : 590651.51 : DepthEnvelope -- Measured altitude = 8.642759. Allowable altitude = 10.000000. t= 1528.40. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.642759. Allowable altitude = 10.000000. t= 1528.60. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160437.33,3648.9337,N,-12158.9653,W,1,03,00.5,008.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160438.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.642759. Allowable altitude = 10.000000. t= 1528.80. Stopping! : DepthEnvelope -- Measured altitude = 8.797047. Allowable altitude = 10.000000. t= 1529.00. Stopping! : DepthEnvelope -- Measured altitude = 8.797047. Allowable altitude = 10.000000. t= 1529.20. Stopping! : DepthEnvelope -- Measured altitude = 8.797047. Allowable altitude = 10.000000. t= 1529.40. Stopping! : DepthEnvelope -- Measured altitude = 8.652650. Allowable altitude = 10.000000. t= 1529.60. Stopping! : NMEA Update: $GPGGA,160438.33,3648.9337,N,-12158.9652,W,1,03,00.5,008.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160439.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.652650. Allowable altitude = 10.000000. t= 1529.80. Stopping! : DepthEnvelope -- Measured altitude = 8.652650. Allowable altitude = 10.000000. t= 1530.00. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 8.803501. Allowable altitude = 10.000000. t= 1530.20. Stopping! : TerrainNav update at nav time = 1484.998271 : TerrainNav update at dvl time = 1484.998271 : _navData-> (x,y) = (4074894.93, 590730.22) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 8.803501. Allowable altitude = 10.000000. t= 1530.40. Stopping! : DepthEnvelope -- Measured altitude = 8.803501. Allowable altitude = 10.000000. t= 1530.60. Stopping! : NMEA Update: $GPGGA,160439.33,3648.9336,N,-12158.9651,W,1,03,00.5,008.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160440.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.919827. Allowable altitude = 10.000000. t= 1530.80. Stopping! : DepthEnvelope -- Measured altitude = 8.919827. Allowable altitude = 10.000000. t= 1531.00. Stopping! : DepthEnvelope -- Measured altitude = 8.919827. Allowable altitude = 10.000000. t= 1531.20. Stopping! : Estimated North Bias at time = 1485.00 : -182.16 : Estimated East Bias at time = 1485.00 : -78.30 : Estimated Depth Bias at time = 1485.00 : -1.46 : Estimated northing and easting = 4074712.77 : 590651.92 : DepthEnvelope -- Measured altitude = 8.979153. Allowable altitude = 10.000000. t= 1531.40. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 8.979153. Allowable altitude = 10.000000. t= 1531.60. Stopping! : NMEA Update: $GPGGA,160440.33,3648.9337,N,-12158.9650,W,1,03,00.5,009.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160441.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 8.979153. Allowable altitude = 10.000000. t= 1531.80. Stopping! : DepthEnvelope -- Measured altitude = 9.012017. Allowable altitude = 10.000000. t= 1532.00. Stopping! : DepthEnvelope -- Measured altitude = 9.012017. Allowable altitude = 10.000000. t= 1532.20. Stopping! : DepthEnvelope -- Measured altitude = 9.012017. Allowable altitude = 10.000000. t= 1532.40. Stopping! : DepthEnvelope -- Measured altitude = 9.032138. Allowable altitude = 10.000000. t= 1532.60. Stopping! : NMEA Update: $GPGGA,160441.33,3648.9337,N,-12158.9650,W,1,03,00.5,009.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160442.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.032138. Allowable altitude = 10.000000. t= 1532.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 9.032138. Allowable altitude = 10.000000. t= 1532.99. Stopping! : DepthEnvelope -- Measured altitude = 9.046333. Allowable altitude = 10.000000. t= 1533.19. Stopping! : TerrainNav update at nav time = 1487.998065 : TerrainNav update at dvl time = 1487.998065 : _navData-> (x,y) = (4074894.93, 590730.53) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 9.046333. Allowable altitude = 10.000000. t= 1533.39. Stopping! : DepthEnvelope -- Measured altitude = 9.046333. Allowable altitude = 10.000000. t= 1533.59. Stopping! : NMEA Update: $GPGGA,160442.33,3648.9337,N,-12158.9649,W,1,03,00.5,009.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160443.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.062874. Allowable altitude = 10.000000. t= 1533.79. Stopping! : DepthEnvelope -- Measured altitude = 9.062874. Allowable altitude = 10.000000. t= 1533.99. Stopping! : DepthEnvelope -- Measured altitude = 9.062874. Allowable altitude = 10.000000. t= 1534.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1488.00 : -182.30 : Estimated East Bias at time = 1488.00 : -78.20 : Estimated Depth Bias at time = 1488.00 : -1.46 : Estimated northing and easting = 4074712.63 : 590652.33 : DepthEnvelope -- Measured altitude = 9.147160. Allowable altitude = 10.000000. t= 1534.39. Stopping! : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 9.147160. Allowable altitude = 10.000000. t= 1534.59. Stopping! : NMEA Update: $GPGGA,160443.33,3648.9337,N,-12158.9648,W,1,03,00.5,009.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160444.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.147160. Allowable altitude = 10.000000. t= 1534.79. Stopping! : DepthEnvelope -- Measured altitude = 9.134912. Allowable altitude = 10.000000. t= 1534.99. Stopping! : DepthEnvelope -- Measured altitude = 9.134912. Allowable altitude = 10.000000. t= 1535.19. Stopping! : DepthEnvelope -- Measured altitude = 9.134912. Allowable altitude = 10.000000. t= 1535.39. Stopping! : DepthEnvelope -- Measured altitude = 9.219502. Allowable altitude = 10.000000. t= 1535.59. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160444.33,3648.9337,N,-12158.9648,W,1,03,00.5,009.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160445.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.219502. Allowable altitude = 10.000000. t= 1535.79. Stopping! : DepthEnvelope -- Measured altitude = 9.219502. Allowable altitude = 10.000000. t= 1535.99. Stopping! : DepthEnvelope -- Measured altitude = 9.265801. Allowable altitude = 10.000000. t= 1536.19. Stopping! : TerrainNav update at nav time = 1490.997859 : TerrainNav update at dvl time = 1490.997859 : _navData-> (x,y) = (4074895.00, 590730.81) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 9.265801. Allowable altitude = 10.000000. t= 1536.39. Stopping! : DepthEnvelope -- Measured altitude = 9.265801. Allowable altitude = 10.000000. t= 1536.59. Stopping! : NMEA Update: $GPGGA,160445.33,3648.9337,N,-12158.9647,W,1,03,00.5,009.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160446.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.295792. Allowable altitude = 10.000000. t= 1536.79. Stopping! : DepthEnvelope -- Measured altitude = 9.295792. Allowable altitude = 10.000000. t= 1536.99. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 9.295792. Allowable altitude = 10.000000. t= 1537.19. Stopping! : DepthEnvelope -- Measured altitude = 9.517481. Allowable altitude = 10.000000. t= 1537.39. Stopping! : Estimated North Bias at time = 1491.00 : -182.31 : Estimated East Bias at time = 1491.00 : -78.24 : Estimated Depth Bias at time = 1491.00 : -1.46 : Estimated northing and easting = 4074712.69 : 590652.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 9.517481. Allowable altitude = 10.000000. t= 1537.59. Stopping! : NMEA Update: $GPGGA,160446.33,3648.9337,N,-12158.9646,W,1,03,00.5,009.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160447.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.517481. Allowable altitude = 10.000000. t= 1537.79. Stopping! : DepthEnvelope -- Measured altitude = 9.386004. Allowable altitude = 10.000000. t= 1537.99. Stopping! : DepthEnvelope -- Measured altitude = 9.386004. Allowable altitude = 10.000000. t= 1538.19. Stopping! : DepthEnvelope -- Measured altitude = 9.386004. Allowable altitude = 10.000000. t= 1538.39. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 9.674554. Allowable altitude = 10.000000. t= 1538.59. Stopping! : NMEA Update: $GPGGA,160447.33,3648.9337,N,-12158.9646,W,1,03,00.5,009.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160448.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.674554. Allowable altitude = 10.000000. t= 1538.79. Stopping! : DepthEnvelope -- Measured altitude = 9.674554. Allowable altitude = 10.000000. t= 1538.99. Stopping! : DepthEnvelope -- Measured altitude = 9.724130. Allowable altitude = 10.000000. t= 1539.19. Stopping! : TerrainNav update at nav time = 1493.997654 : TerrainNav update at dvl time = 1493.997654 : _navData-> (x,y) = (4074895.11, 590731.04) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 9.724130. Allowable altitude = 10.000000. t= 1539.39. Stopping! : DepthEnvelope -- Measured altitude = 9.724130. Allowable altitude = 10.000000. t= 1539.59. Stopping! : NMEA Update: $GPGGA,160448.33,3648.9338,N,-12158.9646,W,1,03,00.5,009.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160449.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.773220. Allowable altitude = 10.000000. t= 1539.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 9.773220. Allowable altitude = 10.000000. t= 1539.99. Stopping! : DepthEnvelope -- Measured altitude = 9.773220. Allowable altitude = 10.000000. t= 1540.19. Stopping! : Estimated North Bias at time = 1494.00 : -182.38 : Estimated East Bias at time = 1494.00 : -78.24 : Estimated Depth Bias at time = 1494.00 : -1.46 : DepthEnvelope -- Measured altitude = 9.790133. Allowable altitude = 10.000000. t= 1540.39. Stopping! : Estimated northing and easting = 4074712.72 : 590652.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 9.790133. Allowable altitude = 10.000000. t= 1540.59. Stopping! : NMEA Update: $GPGGA,160449.33,3648.9338,N,-12158.9645,W,1,03,00.5,009.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160450.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.790133. Allowable altitude = 10.000000. t= 1540.79. Stopping! : DepthEnvelope -- Measured altitude = 9.810218. Allowable altitude = 10.000000. t= 1540.99. Stopping! : DepthEnvelope -- Measured altitude = 9.810218. Allowable altitude = 10.000000. t= 1541.19. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : DepthEnvelope -- Measured altitude = 9.810218. Allowable altitude = 10.000000. t= 1541.39. Stopping! : DepthEnvelope -- Measured altitude = 9.828467. Allowable altitude = 10.000000. t= 1541.59. Stopping! : NMEA Update: $GPGGA,160450.33,3648.9338,N,-12158.9645,W,1,03,00.5,009.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160451.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.828467. Allowable altitude = 10.000000. t= 1541.79. Stopping! : DepthEnvelope -- Measured altitude = 9.828467. Allowable altitude = 10.000000. t= 1541.99. Stopping! : DepthEnvelope -- Measured altitude = 9.836903. Allowable altitude = 10.000000. t= 1542.19. Stopping! : TerrainNav update at nav time = 1496.997448 : TerrainNav update at dvl time = 1496.997448 : _navData-> (x,y) = (4074895.23, 590731.21) : _tercom->outstandingMeas() = 0 : DepthEnvelope -- Measured altitude = 9.836903. Allowable altitude = 10.000000. t= 1542.39. Stopping! : DepthEnvelope -- Measured altitude = 9.836903. Allowable altitude = 10.000000. t= 1542.59. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160451.33,3648.9338,N,-12158.9644,W,1,03,00.5,009.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160452.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.915058. Allowable altitude = 10.000000. t= 1543.39. Stopping! : Estimated North Bias at time = 1497.00 : -182.27 : Estimated East Bias at time = 1497.00 : -78.10 : Estimated Depth Bias at time = 1497.00 : -1.45 : Estimated northing and easting = 4074712.96 : 590653.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : DepthEnvelope -- Measured altitude = 9.915058. Allowable altitude = 10.000000. t= 1543.59. Stopping! : NMEA Update: $GPGGA,160452.33,3648.9338,N,-12158.9644,W,1,03,00.5,009.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160453.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Measured altitude = 9.915058. Allowable altitude = 10.000000. t= 1543.79. Stopping! : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160453.33,3648.9339,N,-12158.9644,W,1,03,00.5,010.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160454.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1499.997243 : TerrainNav update at dvl time = 1499.997243 : _navData-> (x,y) = (4074895.36, 590731.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160454.33,3648.9339,N,-12158.9644,W,1,03,00.5,010.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160455.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1500.00 : -182.35 : Estimated East Bias at time = 1500.00 : -78.12 : Estimated Depth Bias at time = 1500.00 : -1.45 : Estimated northing and easting = 4074713.02 : 590653.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160455.33,3648.9339,N,-12158.9644,W,1,03,00.5,010.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160456.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160456.33,3648.9339,N,-12158.9644,W,1,03,00.5,010.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160457.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1502.997038 : TerrainNav update at dvl time = 1502.997038 : _navData-> (x,y) = (4074895.46, 590731.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160457.33,3648.9339,N,-12158.9644,W,1,03,00.5,010.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160458.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1503.00 : -182.33 : Estimated East Bias at time = 1503.00 : -78.27 : Estimated Depth Bias at time = 1503.00 : -1.45 : Estimated northing and easting = 4074713.13 : 590653.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160458.33,3648.9340,N,-12158.9643,W,1,03,00.5,010.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160459.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160459.33,3648.9340,N,-12158.9644,W,1,03,00.5,010.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160500.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1505.996832 : TerrainNav update at dvl time = 1505.996832 : _navData-> (x,y) = (4074895.57, 590731.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160500.33,3648.9340,N,-12158.9644,W,1,03,00.5,010.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160501.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1506.00 : -182.67 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated East Bias at time = 1506.00 : -78.27 : Estimated Depth Bias at time = 1506.00 : -1.45 : Estimated northing and easting = 4074712.90 : 590653.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160501.33,3648.9340,N,-12158.9644,W,1,03,00.5,011.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160502.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160502.33,3648.9340,N,-12158.9644,W,1,03,00.5,011.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160503.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1508.996627 : TerrainNav update at dvl time = 1508.996627 : _navData-> (x,y) = (4074895.66, 590731.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160503.33,3648.9340,N,-12158.9644,W,1,03,00.5,011.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160504.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1509.00 : -182.82 : Estimated East Bias at time = 1509.00 : -78.28 : Estimated Depth Bias at time = 1509.00 : -1.45 : Estimated northing and easting = 4074712.84 : 590653.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160504.33,3648.9341,N,-12158.9644,W,1,03,00.5,011.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160505.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160505.33,3648.9341,N,-12158.9644,W,1,03,00.5,011.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160506.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1511.996421 : TerrainNav update at dvl time = 1511.996421 : _navData-> (x,y) = (4074895.75, 590731.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160506.33,3648.9341,N,-12158.9644,W,1,03,00.5,011.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160507.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1512.00 : -182.97 : Estimated East Bias at time = 1512.00 : -78.28 : Estimated Depth Bias at time = 1512.00 : -1.45 : Estimated northing and easting = 4074712.77 : 590653.01 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160507.33,3648.9341,N,-12158.9644,W,1,03,00.5,011.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160508.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160508.33,3648.9341,N,-12158.9645,W,1,03,00.5,011.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160509.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1514.996216 : TerrainNav update at dvl time = 1514.996216 : _navData-> (x,y) = (4074895.85, 590731.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160509.33,3648.9342,N,-12158.9645,W,1,03,00.5,011.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160510.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1515.00 : -183.10 : Estimated East Bias at time = 1515.00 : -78.26 : Estimated Depth Bias at time = 1515.00 : -1.45 : Estimated northing and easting = 4074712.76 : 590652.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160510.33,3648.9342,N,-12158.9645,W,1,03,00.5,012.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160511.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160511.33,3648.9342,N,-12158.9646,W,1,03,00.5,012.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160512.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1517.996010 : TerrainNav update at dvl time = 1517.996010 : _navData-> (x,y) = (4074895.97, 590731.02) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160512.33,3648.9342,N,-12158.9646,W,1,03,00.5,012.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160513.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1518.00 : -183.21 : Estimated East Bias at time = 1518.00 : -78.32 : Estimated Depth Bias at time = 1518.00 : -1.45 : Estimated northing and easting = 4074712.76 : 590652.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160513.33,3648.9342,N,-12158.9646,W,1,03,00.5,012.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160514.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160514.33,3648.9343,N,-12158.9647,W,1,03,00.5,012.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160515.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1520.995805 : TerrainNav update at dvl time = 1520.995805 : _navData-> (x,y) = (4074896.11, 590730.85) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160515.33,3648.9343,N,-12158.9647,W,1,03,00.5,012.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160516.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1521.00 : -183.24 : Estimated East Bias at time = 1521.00 : -78.32 : Estimated Depth Bias at time = 1521.00 : -1.46 : Estimated northing and easting = 4074712.87 : 590652.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160516.33,3648.9343,N,-12158.9647,W,1,03,00.5,012.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160517.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160517.33,3648.9344,N,-12158.9648,W,1,03,00.5,012.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160518.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1523.995599 : TerrainNav update at dvl time = 1523.995599 : _navData-> (x,y) = (4074896.27, 590730.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160518.33,3648.9344,N,-12158.9648,W,1,03,00.5,012.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160519.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1524.00 : -183.39 : Estimated East Bias at time = 1524.00 : -78.32 : Estimated Depth Bias at time = 1524.00 : -1.46 : Estimated northing and easting = 4074712.89 : 590652.35 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160519.33,3648.9344,N,-12158.9649,W,1,03,00.5,013.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160520.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160520.33,3648.9345,N,-12158.9649,W,1,03,00.5,013.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160521.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1526.995394 : TerrainNav update at dvl time = 1526.995394 : _navData-> (x,y) = (4074896.46, 590730.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160521.33,3648.9345,N,-12158.9649,W,1,03,00.5,013.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160522.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1527.00 : -183.47 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated East Bias at time = 1527.00 : -78.23 : Estimated Depth Bias at time = 1527.00 : -1.46 : Estimated northing and easting = 4074712.99 : 590652.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160522.33,3648.9345,N,-12158.9650,W,1,03,00.5,013.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160523.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160523.33,3648.9346,N,-12158.9650,W,1,03,00.5,013.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160524.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1529.995188 : TerrainNav update at dvl time = 1529.995188 : _navData-> (x,y) = (4074896.66, 590730.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160524.33,3648.9346,N,-12158.9650,W,1,03,00.5,013.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160525.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1530.00 : -183.64 : Estimated East Bias at time = 1530.00 : -78.24 : Estimated Depth Bias at time = 1530.00 : -1.46 : Estimated northing and easting = 4074713.02 : 590652.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160525.33,3648.9346,N,-12158.9651,W,1,03,00.5,013.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160526.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160526.33,3648.9347,N,-12158.9651,W,1,03,00.5,013.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160527.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1532.994982 : TerrainNav update at dvl time = 1532.994982 : _navData-> (x,y) = (4074896.85, 590730.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160527.33,3648.9347,N,-12158.9652,W,1,03,00.5,014.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160528.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1532.99 : -183.64 : Estimated East Bias at time = 1532.99 : -78.20 : Estimated Depth Bias at time = 1532.99 : -1.46 : Estimated northing and easting = 4074713.21 : 590651.98 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160528.33,3648.9347,N,-12158.9652,W,1,03,00.5,014.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160529.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160529.33,3648.9348,N,-12158.9652,W,1,03,00.5,014.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160530.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1535.994777 : TerrainNav update at dvl time = 1535.994777 : _navData-> (x,y) = (4074897.07, 590730.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160530.14,3648.9348,N,-12158.9653,W,1,03,00.5,014.2,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160531.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1535.99 : -183.74 : Estimated East Bias at time = 1535.99 : -78.18 : Estimated Depth Bias at time = 1535.99 : -1.46 : Estimated northing and easting = 4074713.33 : 590651.83 : NMEA Update: $GPGGA,160531.14,3648.9349,N,-12158.9653,W,1,03,00.5,014.3,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160532.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160532.14,3648.9349,N,-12158.9653,W,1,03,00.5,014.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160533.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1538.994571 : TerrainNav update at dvl time = 1538.994571 : _navData-> (x,y) = (4074897.30, 590729.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160533.14,3648.9349,N,-12158.9654,W,1,03,00.5,014.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160534.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1538.99 : -183.90 : Estimated East Bias at time = 1538.99 : -78.20 : Estimated Depth Bias at time = 1538.99 : -1.47 : Estimated northing and easting = 4074713.40 : 590651.64 : NMEA Update: $GPGGA,160534.14,3648.9350,N,-12158.9654,W,1,03,00.5,014.9,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160535.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160535.14,3648.9350,N,-12158.9654,W,1,03,00.5,015.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160536.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1541.994366 : TerrainNav update at dvl time = 1541.994366 : _navData-> (x,y) = (4074897.54, 590729.70) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160536.14,3648.9351,N,-12158.9655,W,1,03,00.5,015.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160537.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1541.99 : -184.13 : Estimated East Bias at time = 1541.99 : -78.21 : Estimated Depth Bias at time = 1541.99 : -1.47 : Estimated northing and easting = 4074713.41 : 590651.48 : NMEA Update: $GPGGA,160537.14,3648.9351,N,-12158.9655,W,1,03,00.5,015.2,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160538.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160538.14,3648.9352,N,-12158.9655,W,1,03,00.5,015.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160539.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1544.994161 : TerrainNav update at dvl time = 1544.994161 : _navData-> (x,y) = (4074897.81, 590729.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160539.14,3648.9352,N,-12158.9655,W,1,03,00.5,015.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160540.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1544.99 : -184.28 : Estimated East Bias at time = 1544.99 : -78.19 : Estimated Depth Bias at time = 1544.99 : -1.47 : Estimated northing and easting = 4074713.53 : 590651.41 : NMEA Update: $GPGGA,160540.14,3648.9353,N,-12158.9655,W,1,03,00.5,015.8,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160541.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160541.14,3648.9353,N,-12158.9656,W,1,03,00.5,015.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160542.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1547.993955 : TerrainNav update at dvl time = 1547.993955 : _navData-> (x,y) = (4074898.08, 590729.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160542.14,3648.9354,N,-12158.9656,W,1,03,00.5,016.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160543.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1547.99 : -184.50 : Estimated East Bias at time = 1547.99 : -78.18 : Estimated Depth Bias at time = 1547.99 : -1.48 : Estimated northing and easting = 4074713.58 : 590651.35 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160543.14,3648.9354,N,-12158.9656,W,1,03,00.5,016.2,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160544.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160544.14,3648.9355,N,-12158.9656,W,1,03,00.5,016.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160545.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1550.993750 : TerrainNav update at dvl time = 1550.993750 : _navData-> (x,y) = (4074898.38, 590729.40) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160545.14,3648.9355,N,-12158.9657,W,1,03,00.5,016.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160546.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1550.99 : -184.63 : Estimated East Bias at time = 1550.99 : -78.11 : Estimated Depth Bias at time = 1550.99 : -1.48 : Estimated northing and easting = 4074713.74 : 590651.29 : NMEA Update: $GPGGA,160546.14,3648.9356,N,-12158.9657,W,1,03,00.5,016.4,M,-99.9,M,,*45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160547.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160547.14,3648.9356,N,-12158.9657,W,1,03,00.5,016.5,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160548.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1553.993544 : TerrainNav update at dvl time = 1553.993544 : _navData-> (x,y) = (4074898.65, 590729.26) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160548.13,3648.9357,N,-12158.9658,W,1,03,00.5,016.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160549.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1553.99 : -184.81 : Estimated East Bias at time = 1553.99 : -78.09 : Estimated Depth Bias at time = 1553.99 : -1.48 : Estimated northing and easting = 4074713.84 : 590651.17 : NMEA Update: $GPGGA,160549.13,3648.9357,N,-12158.9658,W,1,03,00.5,016.9,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160550.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160550.13,3648.9358,N,-12158.9658,W,1,03,00.5,017.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160551.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1556.993339 : TerrainNav update at dvl time = 1556.993339 : _navData-> (x,y) = (4074898.94, 590729.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160551.13,3648.9358,N,-12158.9659,W,1,03,00.5,017.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160552.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1556.99 : -184.92 : Estimated East Bias at time = 1556.99 : -78.04 : Estimated Depth Bias at time = 1556.99 : -1.48 : Estimated northing and easting = 4074714.02 : 590651.06 : NMEA Update: $GPGGA,160552.13,3648.9359,N,-12158.9659,W,1,03,00.5,017.1,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160553.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160553.13,3648.9359,N,-12158.9659,W,1,03,00.5,017.3,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160554.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1559.993133 : TerrainNav update at dvl time = 1559.993133 : _navData-> (x,y) = (4074899.22, 590728.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160554.13,3648.9360,N,-12158.9660,W,1,03,00.5,017.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160555.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1559.99 : -185.06 : Estimated East Bias at time = 1559.99 : -78.01 : Estimated Depth Bias at time = 1559.99 : -1.48 : NMEA Update: $GPGGA,160555.13,3648.9360,N,-12158.9660,W,1,03,00.5,017.6,M,-99.9,M,,*42 : Estimated northing and easting = 4074714.16 : 590650.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160556.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160556.13,3648.9361,N,-12158.9661,W,1,03,00.5,017.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160557.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1563.002927 : TerrainNav update at dvl time = 1563.002927 : _navData-> (x,y) = (4074899.50, 590728.73) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160557.13,3648.9361,N,-12158.9661,W,1,03,00.5,017.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160558.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1563.00 : -185.11 : Estimated East Bias at time = 1563.00 : -77.97 : Estimated Depth Bias at time = 1563.00 : -1.48 : Estimated northing and easting = 4074714.39 : 590650.77 : NMEA Update: $GPGGA,160558.13,3648.9362,N,-12158.9661,W,1,03,00.5,018.1,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160559.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160559.13,3648.9362,N,-12158.9662,W,1,03,00.5,018.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160600.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1566.002721 : TerrainNav update at dvl time = 1566.002721 : _navData-> (x,y) = (4074899.78, 590728.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160600.13,3648.9363,N,-12158.9662,W,1,03,00.5,018.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160601.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1566.00 : -185.18 : Estimated East Bias at time = 1566.00 : -77.98 : Estimated Depth Bias at time = 1566.00 : -1.48 : Estimated northing and easting = 4074714.60 : 590650.58 : NMEA Update: $GPGGA,160601.13,3648.9364,N,-12158.9662,W,1,03,00.5,018.4,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160602.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160602.13,3648.9364,N,-12158.9663,W,1,03,00.5,018.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160603.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1569.002516 : TerrainNav update at dvl time = 1569.002516 : _navData-> (x,y) = (4074900.08, 590728.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160603.13,3648.9365,N,-12158.9663,W,1,03,00.5,018.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160604.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1569.00 : -185.21 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated East Bias at time = 1569.00 : -77.97 : Estimated Depth Bias at time = 1569.00 : -1.48 : Estimated northing and easting = 4074714.87 : 590650.40 : NMEA Update: $GPGGA,160604.13,3648.9365,N,-12158.9664,W,1,03,00.5,018.7,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160605.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160605.13,3648.9366,N,-12158.9664,W,1,03,00.5,018.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160606.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1572.002310 : TerrainNav update at dvl time = 1572.002310 : _navData-> (x,y) = (4074900.37, 590728.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160606.13,3648.9366,N,-12158.9665,W,1,03,00.5,019.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160607.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1572.00 : -185.26 : Estimated East Bias at time = 1572.00 : -77.95 : Estimated Depth Bias at time = 1572.00 : -1.48 : Estimated northing and easting = 4074715.12 : 590650.21 : NMEA Update: $GPGGA,160607.13,3648.9367,N,-12158.9665,W,1,03,00.5,019.3,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160608.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160608.13,3648.9367,N,-12158.9666,W,1,03,00.5,019.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160609.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1575.002105 : TerrainNav update at dvl time = 1575.002105 : _navData-> (x,y) = (4074900.66, 590727.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160609.13,3648.9368,N,-12158.9666,W,1,03,00.5,019.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160610.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1575.00 : -185.31 : Estimated East Bias at time = 1575.00 : -77.93 : Estimated Depth Bias at time = 1575.00 : -1.48 : Estimated northing and easting = 4074715.34 : 590650.00 : NMEA Update: $GPGGA,160610.13,3648.9368,N,-12158.9667,W,1,03,00.5,019.9,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160611.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160611.13,3648.9369,N,-12158.9667,W,1,03,00.5,020.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160612.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1578.001899 : TerrainNav update at dvl time = 1578.001899 : _navData-> (x,y) = (4074900.96, 590727.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160612.13,3648.9369,N,-12158.9668,W,1,03,00.5,020.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160613.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1578.00 : -185.41 : Estimated East Bias at time = 1578.00 : -77.91 : Estimated Depth Bias at time = 1578.00 : -1.48 : Estimated northing and easting = 4074715.55 : 590649.77 : NMEA Update: $GPGGA,160613.13,3648.9370,N,-12158.9669,W,1,03,00.5,019.8,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160614.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160614.13,3648.9371,N,-12158.9669,W,1,03,00.5,019.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160615.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1581.001694 : TerrainNav update at dvl time = 1581.001694 : _navData-> (x,y) = (4074901.28, 590727.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160615.13,3648.9371,N,-12158.9670,W,1,03,00.5,020.4,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160616.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1581.00 : -185.52 : Estimated East Bias at time = 1581.00 : -77.88 : Estimated Depth Bias at time = 1581.00 : -1.48 : Estimated northing and easting = 4074715.76 : 590649.55 : NMEA Update: $GPGGA,160616.13,3648.9372,N,-12158.9670,W,1,03,00.5,020.4,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160617.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160617.13,3648.9372,N,-12158.9671,W,1,03,00.5,020.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160618.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1584.001488 : TerrainNav update at dvl time = 1584.001488 : _navData-> (x,y) = (4074901.62, 590727.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160618.13,3648.9373,N,-12158.9671,W,1,03,00.5,020.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160619.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1584.00 : -185.58 : Estimated East Bias at time = 1584.00 : -77.87 : Estimated Depth Bias at time = 1584.00 : -1.48 : Estimated northing and easting = 4074716.05 : 590649.32 : NMEA Update: $GPGGA,160619.13,3648.9374,N,-12158.9672,W,1,03,00.5,020.9,M,-99.9,M,,*44 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160620.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160620.13,3648.9374,N,-12158.9672,W,1,03,00.5,021.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160621.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1587.001283 : TerrainNav update at dvl time = 1587.001283 : _navData-> (x,y) = (4074901.98, 590726.92) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160621.13,3648.9375,N,-12158.9673,W,1,03,00.5,021.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160622.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1587.00 : -185.69 : Estimated East Bias at time = 1587.00 : -77.84 : Estimated Depth Bias at time = 1587.00 : -1.48 : Estimated northing and easting = 4074716.29 : 590649.08 : NMEA Update: $GPGGA,160622.13,3648.9376,N,-12158.9674,W,1,03,00.5,021.1,M,-99.9,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160623.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160623.13,3648.9376,N,-12158.9674,W,1,03,00.5,021.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160624.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1590.001077 : TerrainNav update at dvl time = 1590.001077 : _navData-> (x,y) = (4074902.35, 590726.64) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160624.13,3648.9377,N,-12158.9675,W,1,03,00.5,021.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160625.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1590.00 : -185.87 : Estimated East Bias at time = 1590.00 : -77.80 : Estimated Depth Bias at time = 1590.00 : -1.48 : Estimated northing and easting = 4074716.49 : 590648.84 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160625.13,3648.9378,N,-12158.9676,W,1,03,00.5,021.5,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160626.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160626.13,3648.9378,N,-12158.9676,W,1,03,00.5,021.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160627.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1593.000872 : TerrainNav update at dvl time = 1593.000872 : _navData-> (x,y) = (4074902.75, 590726.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160627.13,3648.9379,N,-12158.9677,W,1,03,00.5,021.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160628.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1593.00 : -185.99 : Estimated East Bias at time = 1593.00 : -77.82 : Estimated Depth Bias at time = 1593.00 : -1.48 : Estimated northing and easting = 4074716.76 : 590648.55 : NMEA Update: $GPGGA,160628.13,3648.9380,N,-12158.9677,W,1,03,00.5,022.0,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160629.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160629.13,3648.9381,N,-12158.9678,W,1,03,00.5,022.2,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160630.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1596.000666 : TerrainNav update at dvl time = 1596.000666 : _navData-> (x,y) = (4074903.15, 590726.14) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160630.13,3648.9381,N,-12158.9678,W,1,03,00.5,022.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160631.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1596.00 : -186.06 : Estimated East Bias at time = 1596.00 : -77.89 : Estimated Depth Bias at time = 1596.00 : -1.48 : Estimated northing and easting = 4074717.09 : 590648.25 : NMEA Update: $GPGGA,160631.13,3648.9382,N,-12158.9679,W,1,03,00.5,022.5,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160632.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160632.13,3648.9383,N,-12158.9679,W,1,03,00.5,022.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160633.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1599.000461 : TerrainNav update at dvl time = 1599.000461 : _navData-> (x,y) = (4074903.58, 590725.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160633.13,3648.9384,N,-12158.9679,W,1,03,00.5,022.8,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160634.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1599.00 : -186.10 : Estimated East Bias at time = 1599.00 : -77.94 : Estimated Depth Bias at time = 1599.00 : -1.48 : Estimated northing and easting = 4074717.48 : 590648.02 : NMEA Update: $GPGGA,160634.13,3648.9384,N,-12158.9680,W,1,03,00.5,022.8,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160635.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160635.13,3648.9385,N,-12158.9680,W,1,03,00.5,023.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160636.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1602.000255 : TerrainNav update at dvl time = 1602.000255 : _navData-> (x,y) = (4074904.00, 590725.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160636.13,3648.9386,N,-12158.9680,W,1,03,00.5,023.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160637.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1602.00 : -186.11 : Estimated East Bias at time = 1602.00 : -78.01 : Estimated Depth Bias at time = 1602.00 : -1.48 : Estimated northing and easting = 4074717.89 : 590647.84 : NMEA Update: $GPGGA,160637.13,3648.9387,N,-12158.9680,W,1,03,00.5,023.2,M,-99.9,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160638.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160638.13,3648.9387,N,-12158.9680,W,1,03,00.5,023.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160639.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1605.000050 : TerrainNav update at dvl time = 1605.000050 : _navData-> (x,y) = (4074904.41, 590725.78) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160639.13,3648.9388,N,-12158.9680,W,1,03,00.5,023.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160640.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1605.00 : -186.12 : Estimated East Bias at time = 1605.00 : -78.07 : Estimated Depth Bias at time = 1605.00 : -1.48 : Estimated northing and easting = 4074718.29 : 590647.70 : NMEA Update: $GPGGA,160640.13,3648.9389,N,-12158.9681,W,1,03,00.5,023.3,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160641.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160641.13,3648.9390,N,-12158.9681,W,1,03,00.5,023.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160642.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1607.999844 : TerrainNav update at dvl time = 1607.999844 : _navData-> (x,y) = (4074904.82, 590725.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160642.13,3648.9390,N,-12158.9681,W,1,03,00.5,024.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160643.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1608.00 : -186.21 : Estimated East Bias at time = 1608.00 : -78.09 : Estimated Depth Bias at time = 1608.00 : -1.48 : Estimated northing and easting = 4074718.62 : 590647.65 : NMEA Update: $GPGGA,160643.13,3648.9391,N,-12158.9681,W,1,03,00.5,023.9,M,-99.9,M,,*4f : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160644.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160644.13,3648.9392,N,-12158.9681,W,1,03,00.5,024.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160645.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1610.999639 : TerrainNav update at dvl time = 1610.999639 : _navData-> (x,y) = (4074905.24, 590725.76) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160645.13,3648.9393,N,-12158.9680,W,1,03,00.5,024.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160646.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1611.00 : -186.31 : Estimated East Bias at time = 1611.00 : -78.06 : Estimated Depth Bias at time = 1611.00 : -1.48 : Estimated northing and easting = 4074718.93 : 590647.70 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160646.13,3648.9393,N,-12158.9680,W,1,03,00.5,024.5,M,-99.9,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160647.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160647.13,3648.9394,N,-12158.9680,W,1,03,00.5,024.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160648.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1613.999433 : TerrainNav update at dvl time = 1613.999433 : _navData-> (x,y) = (4074905.67, 590725.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160648.13,3648.9395,N,-12158.9680,W,1,03,00.5,024.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160649.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1614.00 : -186.32 : Estimated East Bias at time = 1614.00 : -78.06 : Estimated Depth Bias at time = 1614.00 : -1.48 : Estimated northing and easting = 4074719.36 : 590647.73 : NMEA Update: $GPGGA,160649.13,3648.9396,N,-12158.9680,W,1,03,00.5,024.5,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160650.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160650.13,3648.9397,N,-12158.9680,W,1,03,00.5,025.0,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160651.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1616.999228 : TerrainNav update at dvl time = 1616.999228 : _navData-> (x,y) = (4074906.11, 590725.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160651.13,3648.9397,N,-12158.9680,W,1,03,00.5,025.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160652.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1617.00 : -186.42 : Estimated East Bias at time = 1617.00 : -78.06 : Estimated Depth Bias at time = 1617.00 : -1.48 : Estimated northing and easting = 4074719.69 : 590647.77 : NMEA Update: $GPGGA,160652.13,3648.9398,N,-12158.9680,W,1,03,00.5,025.3,M,-99.9,M,,*4b : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160653.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160653.13,3648.9399,N,-12158.9680,W,1,03,00.5,025.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160654.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1619.999022 : TerrainNav update at dvl time = 1619.999022 : _navData-> (x,y) = (4074906.56, 590725.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160654.13,3648.9400,N,-12158.9680,W,1,03,00.5,025.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160655.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1620.00 : -186.48 : Estimated East Bias at time = 1620.00 : -78.05 : Estimated Depth Bias at time = 1620.00 : -1.48 : Estimated northing and easting = 4074720.09 : 590647.84 : NMEA Update: $GPGGA,160655.13,3648.9401,N,-12158.9679,W,1,03,00.5,025.6,M,-99.9,M,,*48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160656.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160656.13,3648.9402,N,-12158.9679,W,1,03,00.5,025.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160657.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1622.998817 : TerrainNav update at dvl time = 1622.998817 : _navData-> (x,y) = (4074907.02, 590725.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160657.13,3648.9402,N,-12158.9679,W,1,03,00.5,025.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160658.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1623.00 : -186.52 : Estimated East Bias at time = 1623.00 : -78.03 : Estimated Depth Bias at time = 1623.00 : -1.48 : Estimated northing and easting = 4074720.51 : 590647.95 : NMEA Update: $GPGGA,160658.13,3648.9403,N,-12158.9679,W,1,03,00.5,026.1,M,-99.9,M,,*43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160659.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160659.13,3648.9404,N,-12158.9678,W,1,03,00.5,026.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160700.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1625.998611 : TerrainNav update at dvl time = 1625.998611 : _navData-> (x,y) = (4074907.48, 590726.08) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160700.13,3648.9405,N,-12158.9678,W,1,03,00.5,026.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160701.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1626.00 : -186.59 : Estimated East Bias at time = 1626.00 : -77.95 : Estimated Depth Bias at time = 1626.00 : -1.47 : Estimated northing and easting = 4074720.89 : 590648.13 : NMEA Update: $GPGGA,160701.13,3648.9406,N,-12158.9678,W,1,03,00.5,026.5,M,-99.9,M,,*4e : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160702.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160702.13,3648.9406,N,-12158.9677,W,1,03,00.5,026.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160703.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1628.998406 : TerrainNav update at dvl time = 1628.998406 : _navData-> (x,y) = (4074907.94, 590726.22) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160703.13,3648.9407,N,-12158.9677,W,1,03,00.5,026.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160704.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160704.13,3648.9408,N,-12158.9677,W,1,03,00.5,026.3,M,-99.9,M,,*4c : Estimated North Bias at time = 1629.00 : -186.57 : Estimated East Bias at time = 1629.00 : -77.97 : Estimated Depth Bias at time = 1629.00 : -1.47 : Estimated northing and easting = 4074721.36 : 590648.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160705.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160705.13,3648.9409,N,-12158.9676,W,1,03,00.5,027.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160706.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1631.998200 : TerrainNav update at dvl time = 1631.998200 : _navData-> (x,y) = (4074908.39, 590726.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160706.13,3648.9410,N,-12158.9676,W,1,03,00.5,027.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160707.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1632.00 : -186.57 : Estimated East Bias at time = 1632.00 : -78.00 : Estimated Depth Bias at time = 1632.00 : -1.47 : Estimated northing and easting = 4074721.82 : 590648.38 : NMEA Update: $GPGGA,160707.13,3648.9410,N,-12158.9676,W,1,03,00.5,026.8,M,-99.9,M,,*4c : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160708.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160708.13,3648.9411,N,-12158.9675,W,1,03,00.5,027.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160709.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1634.997995 : TerrainNav update at dvl time = 1634.997995 : _navData-> (x,y) = (4074908.83, 590726.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160709.13,3648.9412,N,-12158.9675,W,1,03,00.5,027.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160710.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1635.00 : -186.62 : Estimated East Bias at time = 1635.00 : -77.93 : Estimated Depth Bias at time = 1635.00 : -1.47 : Estimated northing and easting = 4074722.21 : 590648.64 : NMEA Update: $GPGGA,160710.13,3648.9413,N,-12158.9674,W,1,03,00.5,027.4,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160711.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160711.13,3648.9414,N,-12158.9674,W,1,03,00.5,027.6,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160712.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1637.997789 : TerrainNav update at dvl time = 1637.997789 : _navData-> (x,y) = (4074909.28, 590726.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160712.13,3648.9414,N,-12158.9673,W,1,03,00.5,027.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160713.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated North Bias at time = 1638.00 : -186.67 : Estimated East Bias at time = 1638.00 : -77.84 : Estimated Depth Bias at time = 1638.00 : -1.47 : Estimated northing and easting = 4074722.61 : 590648.95 : NMEA Update: $GPGGA,160713.13,3648.9415,N,-12158.9673,W,1,03,00.5,027.6,M,-99.9,M,,*46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160714.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160714.13,3648.9416,N,-12158.9672,W,1,03,00.5,027.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160715.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1640.997584 : TerrainNav update at dvl time = 1640.997584 : _navData-> (x,y) = (4074909.74, 590726.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160715.13,3648.9417,N,-12158.9672,W,1,03,00.5,028.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160716.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160716.13,3648.9418,N,-12158.9672,W,1,03,00.5,028.1,M,-99.9,M,,*47 : Estimated North Bias at time = 1641.00 : -186.74 : Estimated East Bias at time = 1641.00 : -77.74 : Estimated Depth Bias at time = 1641.00 : -1.47 : Estimated northing and easting = 4074723.00 : 590649.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160717.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160717.13,3648.9419,N,-12158.9671,W,1,03,00.5,028.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160718.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1643.997378 : TerrainNav update at dvl time = 1643.997378 : _navData-> (x,y) = (4074910.21, 590727.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160718.13,3648.9420,N,-12158.9671,W,1,03,00.5,028.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160719.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160719.13,3648.9420,N,-12158.9671,W,1,03,00.5,028.6,M,-99.9,M,,*47 : Estimated North Bias at time = 1644.00 : -186.81 : Estimated East Bias at time = 1644.00 : -77.63 : Estimated Depth Bias at time = 1644.00 : -1.46 : Estimated northing and easting = 4074723.40 : 590649.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160720.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160720.13,3648.9421,N,-12158.9670,W,1,03,00.5,028.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160721.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1646.997173 : TerrainNav update at dvl time = 1646.997173 : _navData-> (x,y) = (4074910.69, 590727.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160721.13,3648.9422,N,-12158.9670,W,1,03,00.5,029.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160722.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1647.00 : -186.88 : NMEA Update: $GPGGA,160722.13,3648.9423,N,-12158.9669,W,1,03,00.5,029.1,M,-99.9,M,,*43 : Estimated East Bias at time = 1647.00 : -77.61 : Estimated Depth Bias at time = 1647.00 : -1.46 : Estimated northing and easting = 4074723.81 : 590649.67 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160723.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160723.13,3648.9424,N,-12158.9669,W,1,03,00.5,029.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160724.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1649.996967 : TerrainNav update at dvl time = 1649.996967 : _navData-> (x,y) = (4074911.16, 590727.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160724.13,3648.9425,N,-12158.9668,W,1,03,00.5,029.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160725.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160725.13,3648.9425,N,-12158.9668,W,1,03,00.5,029.4,M,-99.9,M,,*46 : Estimated North Bias at time = 1650.00 : -186.92 : Estimated East Bias at time = 1650.00 : -77.56 : Estimated Depth Bias at time = 1650.00 : -1.46 : Estimated northing and easting = 4074724.24 : 590649.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160726.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160726.13,3648.9426,N,-12158.9667,W,1,03,00.5,029.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160727.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1652.996762 : TerrainNav update at dvl time = 1652.996762 : _navData-> (x,y) = (4074911.61, 590727.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160727.13,3648.9427,N,-12158.9667,W,1,03,00.5,029.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160728.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160728.13,3648.9428,N,-12158.9666,W,1,03,00.5,029.8,M,-99.9,M,,*44 : Estimated North Bias at time = 1653.00 : -186.98 : Estimated East Bias at time = 1653.00 : -77.50 : Estimated Depth Bias at time = 1653.00 : -1.46 : Estimated northing and easting = 4074724.63 : 590650.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160729.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160729.13,3648.9429,N,-12158.9665,W,1,03,00.5,030.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160730.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1655.996556 : TerrainNav update at dvl time = 1655.996556 : _navData-> (x,y) = (4074912.06, 590728.05) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160730.13,3648.9429,N,-12158.9665,W,1,03,00.5,030.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160731.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160731.13,3648.9430,N,-12158.9664,W,1,03,00.5,030.0,M,-99.9,M,,*47 : Estimated North Bias at time = 1656.00 : -187.02 : Estimated East Bias at time = 1656.00 : -77.47 : Estimated Depth Bias at time = 1656.00 : -1.46 : Estimated northing and easting = 4074725.04 : 590650.57 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160732.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160732.13,3648.9431,N,-12158.9663,W,1,03,00.5,030.2,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160733.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1658.996351 : TerrainNav update at dvl time = 1658.996351 : _navData-> (x,y) = (4074912.50, 590728.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160733.13,3648.9432,N,-12158.9662,W,1,03,00.5,030.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160734.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160734.13,3648.9433,N,-12158.9662,W,1,03,00.5,030.2,M,-99.9,M,,*45 : Estimated North Bias at time = 1659.00 : -187.06 : Estimated East Bias at time = 1659.00 : -77.44 : Estimated Depth Bias at time = 1659.00 : -1.46 : Estimated northing and easting = 4074725.44 : 590650.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160735.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160735.13,3648.9433,N,-12158.9661,W,1,03,00.5,030.2,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160736.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1661.996145 : TerrainNav update at dvl time = 1661.996145 : _navData-> (x,y) = (4074912.95, 590728.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160736.13,3648.9434,N,-12158.9660,W,1,03,00.5,030.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160737.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160737.13,3648.9435,N,-12158.9660,W,1,03,00.5,030.6,M,-99.9,M,,*46 : Estimated North Bias at time = 1662.00 : -186.97 : Estimated East Bias at time = 1662.00 : -77.46 : Estimated Depth Bias at time = 1662.00 : -1.46 : Estimated northing and easting = 4074725.98 : 590651.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160738.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160738.13,3648.9436,N,-12158.9659,W,1,03,00.5,030.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160739.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1664.995940 : TerrainNav update at dvl time = 1664.995940 : _navData-> (x,y) = (4074913.40, 590728.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160739.13,3648.9437,N,-12158.9658,W,1,03,00.5,030.7,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160740.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160740.13,3648.9437,N,-12158.9658,W,1,03,00.5,030.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1665.00 : -186.94 : Estimated East Bias at time = 1665.00 : -77.47 : Estimated Depth Bias at time = 1665.00 : -1.46 : Estimated northing and easting = 4074726.46 : 590651.48 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160741.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160741.13,3648.9438,N,-12158.9657,W,1,03,00.5,031.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160742.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1667.995734 : TerrainNav update at dvl time = 1667.995734 : _navData-> (x,y) = (4074913.85, 590729.28) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160742.13,3648.9439,N,-12158.9656,W,1,03,00.5,031.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160743.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160743.13,3648.9440,N,-12158.9655,W,1,03,00.5,031.1,M,-99.9,M,,*47 : Estimated North Bias at time = 1668.00 : -186.94 : Estimated East Bias at time = 1668.00 : -77.53 : Estimated Depth Bias at time = 1668.00 : -1.46 : Estimated northing and easting = 4074726.91 : 590651.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160744.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160744.13,3648.9441,N,-12158.9654,W,1,03,00.5,031.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160745.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1670.995529 : TerrainNav update at dvl time = 1670.995529 : _navData-> (x,y) = (4074914.32, 590729.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160745.13,3648.9442,N,-12158.9654,W,1,03,00.5,031.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160746.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160746.13,3648.9442,N,-12158.9653,W,1,03,00.5,031.5,M,-99.9,M,,*42 : Estimated North Bias at time = 1671.00 : -187.02 : Estimated East Bias at time = 1671.00 : -77.55 : Estimated Depth Bias at time = 1671.00 : -1.45 : Estimated northing and easting = 4074727.30 : 590652.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160747.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160747.13,3648.9443,N,-12158.9652,W,1,03,00.5,031.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160748.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1673.995323 : TerrainNav update at dvl time = 1673.995323 : _navData-> (x,y) = (4074914.79, 590729.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160748.13,3648.9444,N,-12158.9651,W,1,03,00.5,031.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160749.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160749.13,3648.9445,N,-12158.9651,W,1,03,00.5,032.0,M,-99.9,M,,*4e : Estimated North Bias at time = 1674.00 : -187.05 : Estimated East Bias at time = 1674.00 : -77.60 : Estimated Depth Bias at time = 1674.00 : -1.45 : Estimated northing and easting = 4074727.73 : 590652.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160750.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160750.13,3648.9446,N,-12158.9650,W,1,03,00.5,031.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160751.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1676.995118 : TerrainNav update at dvl time = 1676.995118 : _navData-> (x,y) = (4074915.25, 590730.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160751.13,3648.9447,N,-12158.9649,W,1,03,00.5,032.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160752.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160752.13,3648.9447,N,-12158.9648,W,1,03,00.5,032.0,M,-99.9,M,,*4e : Estimated North Bias at time = 1677.00 : -187.05 : Estimated East Bias at time = 1677.00 : -77.64 : Estimated Depth Bias at time = 1677.00 : -1.45 : Estimated northing and easting = 4074728.19 : 590652.69 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160753.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160753.13,3648.9448,N,-12158.9647,W,1,03,00.5,032.2,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160754.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1679.994912 : TerrainNav update at dvl time = 1679.994912 : _navData-> (x,y) = (4074915.68, 590730.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160754.13,3648.9449,N,-12158.9646,W,1,03,00.5,032.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160755.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160755.13,3648.9450,N,-12158.9646,W,1,03,00.5,032.4,M,-99.9,M,,*45 : Estimated North Bias at time = 1679.99 : -187.08 : Estimated East Bias at time = 1679.99 : -77.74 : Estimated Depth Bias at time = 1679.99 : -1.45 : Estimated northing and easting = 4074728.60 : 590652.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160756.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160756.14,3648.9450,N,-12158.9645,W,1,03,00.5,032.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160757.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1682.994707 : TerrainNav update at dvl time = 1682.994707 : _navData-> (x,y) = (4074916.10, 590731.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160757.14,3648.9451,N,-12158.9644,W,1,03,00.5,033.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160758.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160758.14,3648.9452,N,-12158.9643,W,1,03,00.5,032.9,M,-99.9,M,,*45 : Estimated North Bias at time = 1682.99 : -187.07 : Estimated East Bias at time = 1682.99 : -77.86 : Estimated Depth Bias at time = 1682.99 : -1.46 : Estimated northing and easting = 4074729.04 : 590653.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160759.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160759.14,3648.9452,N,-12158.9642,W,1,03,00.5,033.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160800.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1685.994501 : TerrainNav update at dvl time = 1685.994501 : _navData-> (x,y) = (4074916.49, 590731.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160800.14,3648.9453,N,-12158.9641,W,1,03,00.5,033.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160801.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160801.14,3648.9454,N,-12158.9640,W,1,03,00.5,033.3,M,-99.9,M,,*48 : Estimated North Bias at time = 1685.99 : -187.05 : Estimated East Bias at time = 1685.99 : -77.99 : Estimated Depth Bias at time = 1685.99 : -1.46 : Estimated northing and easting = 4074729.43 : 590653.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160802.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160802.14,3648.9454,N,-12158.9639,W,1,03,00.5,033.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160803.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1688.994296 : TerrainNav update at dvl time = 1688.994296 : _navData-> (x,y) = (4074916.85, 590731.93) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160803.14,3648.9455,N,-12158.9638,W,1,03,00.5,033.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160804.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160804.14,3648.9456,N,-12158.9637,W,1,03,00.5,033.7,M,-99.9,M,,*4b : Estimated North Bias at time = 1688.99 : -187.00 : Estimated East Bias at time = 1688.99 : -78.08 : Estimated Depth Bias at time = 1688.99 : -1.46 : Estimated northing and easting = 4074729.86 : 590653.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160805.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160805.14,3648.9456,N,-12158.9636,W,1,03,00.5,033.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160806.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1691.994090 : TerrainNav update at dvl time = 1691.994090 : _navData-> (x,y) = (4074917.20, 590732.36) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160806.14,3648.9457,N,-12158.9635,W,1,03,00.5,033.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160807.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160807.14,3648.9458,N,-12158.9634,W,1,03,00.5,033.7,M,-99.9,M,,*45 : Estimated North Bias at time = 1691.99 : -186.93 : Estimated East Bias at time = 1691.99 : -78.16 : Estimated Depth Bias at time = 1691.99 : -1.46 : Estimated northing and easting = 4074730.27 : 590654.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160808.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160808.14,3648.9458,N,-12158.9633,W,1,03,00.5,034.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160809.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1694.993885 : TerrainNav update at dvl time = 1694.993885 : _navData-> (x,y) = (4074917.55, 590732.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160809.14,3648.9459,N,-12158.9632,W,1,03,00.5,034.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,160810.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160810.14,3648.9459,N,-12158.9631,W,1,03,00.5,034.3,M,-99.9,M,,*44 : Estimated North Bias at time = 1694.99 : -186.78 : Estimated East Bias at time = 1694.99 : -78.32 : Estimated Depth Bias at time = 1694.99 : -1.46 : Estimated northing and easting = 4074730.78 : 590654.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160811.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160811.14,3648.9460,N,-12158.9630,W,1,03,00.5,034.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160812.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1697.993679 : TerrainNav update at dvl time = 1697.993679 : _navData-> (x,y) = (4074917.88, 590733.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160812.14,3648.9461,N,-12158.9629,W,1,03,00.5,034.5,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160813.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160813.14,3648.9461,N,-12158.9627,W,1,03,00.5,034.8,M,-99.9,M,,*40 : Estimated North Bias at time = 1697.99 : -186.65 : Estimated East Bias at time = 1697.99 : -78.50 : Estimated Depth Bias at time = 1697.99 : -1.46 : Estimated northing and easting = 4074731.23 : 590654.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160814.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160814.13,3648.9462,N,-12158.9626,W,1,03,00.5,034.5,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160815.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1700.993474 : TerrainNav update at dvl time = 1700.993474 : _navData-> (x,y) = (4074918.17, 590733.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160815.13,3648.9462,N,-12158.9625,W,1,03,00.5,034.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160816.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160816.13,3648.9462,N,-12158.9624,W,1,03,00.5,034.3,M,-99.9,M,,*49 : Estimated North Bias at time = 1700.99 : -186.48 : Estimated East Bias at time = 1700.99 : -78.62 : Estimated Depth Bias at time = 1700.99 : -1.46 : Estimated northing and easting = 4074731.68 : 590655.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160817.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160817.13,3648.9463,N,-12158.9623,W,1,03,00.5,034.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160818.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1703.993268 : TerrainNav update at dvl time = 1703.993268 : _navData-> (x,y) = (4074918.38, 590734.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160818.13,3648.9463,N,-12158.9622,W,1,03,00.5,034.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160819.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160819.13,3648.9463,N,-12158.9621,W,1,03,00.5,035.2,M,-99.9,M,,*42 : Estimated North Bias at time = 1703.99 : -186.37 : Estimated East Bias at time = 1703.99 : -78.68 : Estimated Depth Bias at time = 1703.99 : -1.46 : Estimated northing and easting = 4074732.01 : 590655.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160820.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160820.13,3648.9464,N,-12158.9619,W,1,03,00.5,035.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160821.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1707.003062 : TerrainNav update at dvl time = 1707.003062 : _navData-> (x,y) = (4074918.53, 590734.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160821.13,3648.9464,N,-12158.9618,W,1,03,00.5,035.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160822.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160822.13,3648.9464,N,-12158.9617,W,1,03,00.5,035.2,M,-99.9,M,,*48 : Estimated North Bias at time = 1707.00 : -186.18 : Estimated East Bias at time = 1707.00 : -78.71 : Estimated Depth Bias at time = 1707.00 : -1.46 : Estimated northing and easting = 4074732.35 : 590656.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160823.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160823.13,3648.9464,N,-12158.9616,W,1,03,00.5,035.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160824.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1710.002857 : TerrainNav update at dvl time = 1710.002857 : _navData-> (x,y) = (4074918.65, 590735.40) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160824.13,3648.9465,N,-12158.9614,W,1,03,00.5,035.1,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160825.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160825.13,3648.9465,N,-12158.9613,W,1,03,00.5,035.0,M,-99.9,M,,*48 : Estimated North Bias at time = 1710.00 : -186.15 : Estimated East Bias at time = 1710.00 : -78.72 : Estimated Depth Bias at time = 1710.00 : -1.46 : Estimated northing and easting = 4074732.51 : 590656.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160826.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160826.13,3648.9465,N,-12158.9612,W,1,03,00.5,035.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160827.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1713.002651 : TerrainNav update at dvl time = 1713.002651 : _navData-> (x,y) = (4074918.76, 590735.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160827.13,3648.9465,N,-12158.9611,W,1,03,00.5,035.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160828.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160828.13,3648.9465,N,-12158.9609,W,1,03,00.5,035.1,M,-99.9,M,,*4f : Estimated North Bias at time = 1713.00 : -186.10 : Estimated East Bias at time = 1713.00 : -78.76 : Estimated Depth Bias at time = 1713.00 : -1.46 : Estimated northing and easting = 4074732.66 : 590657.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160829.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160829.13,3648.9465,N,-12158.9608,W,1,03,00.5,034.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160830.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1716.002446 : TerrainNav update at dvl time = 1716.002446 : _navData-> (x,y) = (4074918.85, 590736.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160830.13,3648.9466,N,-12158.9607,W,1,03,00.5,035.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160831.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160831.13,3648.9466,N,-12158.9606,W,1,03,00.5,035.0,M,-99.9,M,,*4a : Estimated North Bias at time = 1716.00 : -186.00 : Estimated East Bias at time = 1716.00 : -78.82 : Estimated Depth Bias at time = 1716.00 : -1.46 : Estimated northing and easting = 4074732.85 : 590657.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160832.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160832.13,3648.9466,N,-12158.9604,W,1,03,00.5,035.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160833.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1719.002240 : TerrainNav update at dvl time = 1719.002240 : _navData-> (x,y) = (4074918.92, 590737.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160833.13,3648.9466,N,-12158.9603,W,1,03,00.5,035.5,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,160834.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160834.13,3648.9466,N,-12158.9602,W,1,03,00.5,035.6,M,-99.9,M,,*4d : Estimated North Bias at time = 1719.00 : -186.04 : Estimated East Bias at time = 1719.00 : -78.78 : Estimated Depth Bias at time = 1719.00 : -1.45 : Estimated northing and easting = 4074732.88 : 590658.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160835.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160835.13,3648.9466,N,-12158.9601,W,1,03,00.5,035.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160836.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1722.002035 : TerrainNav update at dvl time = 1722.002035 : _navData-> (x,y) = (4074918.95, 590737.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160836.13,3648.9466,N,-12158.9600,W,1,03,00.5,036.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160837.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160837.13,3648.9466,N,-12158.9599,W,1,03,00.5,036.5,M,-99.9,M,,*4f : Estimated North Bias at time = 1722.00 : -185.92 : Estimated East Bias at time = 1722.00 : -78.75 : Estimated Depth Bias at time = 1722.00 : -1.45 : Estimated northing and easting = 4074733.03 : 590658.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160838.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160838.13,3648.9466,N,-12158.9598,W,1,03,00.5,036.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160839.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1725.001829 : TerrainNav update at dvl time = 1725.001829 : _navData-> (x,y) = (4074918.96, 590738.08) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160839.13,3648.9466,N,-12158.9596,W,1,03,00.5,036.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160840.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160840.13,3648.9466,N,-12158.9595,W,1,03,00.5,037.1,M,-99.9,M,,*46 : Estimated North Bias at time = 1725.00 : -185.73 : Estimated East Bias at time = 1725.00 : -78.68 : Estimated Depth Bias at time = 1725.00 : -1.45 : Estimated northing and easting = 4074733.22 : 590659.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160841.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160841.13,3648.9466,N,-12158.9594,W,1,03,00.5,037.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160842.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1728.001624 : TerrainNav update at dvl time = 1728.001624 : _navData-> (x,y) = (4074918.93, 590738.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160842.13,3648.9466,N,-12158.9593,W,1,03,00.5,036.7,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160843.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160843.13,3648.9466,N,-12158.9592,W,1,03,00.5,036.8,M,-99.9,M,,*4a : Estimated North Bias at time = 1728.00 : -185.61 : Estimated East Bias at time = 1728.00 : -78.59 : Estimated Depth Bias at time = 1728.00 : -1.45 : Estimated northing and easting = 4074733.32 : 590659.99 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160844.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160844.13,3648.9466,N,-12158.9591,W,1,03,00.5,037.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160845.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1731.001418 : TerrainNav update at dvl time = 1731.001418 : _navData-> (x,y) = (4074918.88, 590739.04) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160845.13,3648.9466,N,-12158.9590,W,1,03,00.5,037.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160846.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160846.13,3648.9465,N,-12158.9589,W,1,03,00.5,037.6,M,-99.9,M,,*49 : Estimated North Bias at time = 1731.00 : -185.50 : Estimated East Bias at time = 1731.00 : -78.52 : Estimated Depth Bias at time = 1731.00 : -1.45 : Estimated northing and easting = 4074733.38 : 590660.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160847.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160847.13,3648.9465,N,-12158.9588,W,1,03,00.5,038.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160848.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1734.001213 : TerrainNav update at dvl time = 1734.001213 : _navData-> (x,y) = (4074918.80, 590739.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160848.13,3648.9465,N,-12158.9587,W,1,03,00.5,038.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160849.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160849.13,3648.9465,N,-12158.9587,W,1,03,00.5,038.4,M,-99.9,M,,*45 : Estimated North Bias at time = 1734.00 : -185.34 : Estimated East Bias at time = 1734.00 : -78.48 : Estimated Depth Bias at time = 1734.00 : -1.45 : Estimated northing and easting = 4074733.46 : 590660.97 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160850.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160850.13,3648.9465,N,-12158.9586,W,1,03,00.5,038.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160851.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1737.001007 : TerrainNav update at dvl time = 1737.001007 : _navData-> (x,y) = (4074918.68, 590739.79) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160851.13,3648.9464,N,-12158.9585,W,1,03,00.5,038.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160852.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160852.13,3648.9464,N,-12158.9584,W,1,03,00.5,038.6,M,-99.9,M,,*4f : Estimated North Bias at time = 1737.00 : -185.24 : Estimated East Bias at time = 1737.00 : -78.41 : Estimated Depth Bias at time = 1737.00 : -1.45 : Estimated northing and easting = 4074733.44 : 590661.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160853.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160853.13,3648.9464,N,-12158.9584,W,1,03,00.5,038.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160854.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1740.000802 : TerrainNav update at dvl time = 1740.000802 : _navData-> (x,y) = (4074918.54, 590740.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160854.13,3648.9464,N,-12158.9583,W,1,03,00.5,038.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160855.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160855.13,3648.9463,N,-12158.9583,W,1,03,00.5,039.5,M,-99.9,M,,*4a : Estimated North Bias at time = 1740.00 : -185.21 : Estimated East Bias at time = 1740.00 : -78.29 : Estimated Depth Bias at time = 1740.00 : -1.45 : Estimated northing and easting = 4074733.33 : 590661.77 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160856.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160856.13,3648.9463,N,-12158.9583,W,1,03,00.5,039.1,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160857.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1743.000596 : TerrainNav update at dvl time = 1743.000596 : _navData-> (x,y) = (4074918.38, 590740.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160857.13,3648.9463,N,-12158.9582,W,1,03,00.5,039.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160858.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160858.13,3648.9462,N,-12158.9582,W,1,03,00.5,039.5,M,-99.9,M,,*47 : Estimated North Bias at time = 1743.00 : -185.20 : Estimated East Bias at time = 1743.00 : -78.16 : Estimated Depth Bias at time = 1743.00 : -1.44 : Estimated northing and easting = 4074733.18 : 590662.03 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160859.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160859.13,3648.9462,N,-12158.9583,W,1,03,00.5,039.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160900.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1746.000391 : TerrainNav update at dvl time = 1746.000391 : _navData-> (x,y) = (4074918.21, 590740.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160900.13,3648.9462,N,-12158.9583,W,1,03,00.5,039.9,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160901.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160901.13,3648.9461,N,-12158.9583,W,1,03,00.5,039.8,M,-99.9,M,,*45 : Estimated North Bias at time = 1746.00 : -185.12 : Estimated East Bias at time = 1746.00 : -78.09 : Estimated Depth Bias at time = 1746.00 : -1.44 : Estimated northing and easting = 4074733.08 : 590662.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160902.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160902.13,3648.9461,N,-12158.9583,W,1,03,00.5,039.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160903.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1749.000185 : TerrainNav update at dvl time = 1749.000185 : _navData-> (x,y) = (4074918.02, 590740.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160903.13,3648.9461,N,-12158.9584,W,1,03,00.5,039.7,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160904.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160904.13,3648.9460,N,-12158.9584,W,1,03,00.5,039.8,M,-99.9,M,,*46 : Estimated North Bias at time = 1749.00 : -185.09 : Estimated East Bias at time = 1749.00 : -77.99 : Estimated Depth Bias at time = 1749.00 : -1.44 : Estimated northing and easting = 4074732.93 : 590662.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160905.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160905.13,3648.9460,N,-12158.9584,W,1,03,00.5,040.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160906.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1751.999980 : TerrainNav update at dvl time = 1751.999980 : _navData-> (x,y) = (4074917.82, 590739.88) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160906.13,3648.9460,N,-12158.9585,W,1,03,00.5,040.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160907.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160907.13,3648.9459,N,-12158.9585,W,1,03,00.5,040.3,M,-99.9,M,,*4b : Estimated North Bias at time = 1752.00 : -185.11 : Estimated East Bias at time = 1752.00 : -77.93 : Estimated Depth Bias at time = 1752.00 : -1.44 : Estimated northing and easting = 4074732.71 : 590661.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160908.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160908.13,3648.9459,N,-12158.9585,W,1,03,00.5,040.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160909.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1754.999774 : TerrainNav update at dvl time = 1754.999774 : _navData-> (x,y) = (4074917.62, 590739.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160909.13,3648.9459,N,-12158.9586,W,1,03,00.5,040.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160910.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160910.13,3648.9458,N,-12158.9586,W,1,03,00.5,040.7,M,-99.9,M,,*4b : Estimated North Bias at time = 1755.00 : -185.09 : Estimated East Bias at time = 1755.00 : -77.91 : Estimated Depth Bias at time = 1755.00 : -1.44 : Estimated northing and easting = 4074732.52 : 590661.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160911.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160911.13,3648.9458,N,-12158.9586,W,1,03,00.5,040.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160912.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1757.999569 : TerrainNav update at dvl time = 1757.999569 : _navData-> (x,y) = (4074917.42, 590739.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160912.13,3648.9458,N,-12158.9586,W,1,03,00.5,041.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160913.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160913.13,3648.9457,N,-12158.9586,W,1,03,00.5,041.0,M,-99.9,M,,*41 : Estimated North Bias at time = 1758.00 : -185.12 : Estimated East Bias at time = 1758.00 : -77.92 : Estimated Depth Bias at time = 1758.00 : -1.44 : Estimated northing and easting = 4074732.30 : 590661.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160914.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160914.13,3648.9457,N,-12158.9586,W,1,03,00.5,041.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160915.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1760.999363 : TerrainNav update at dvl time = 1760.999363 : _navData-> (x,y) = (4074917.24, 590739.64) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160915.13,3648.9457,N,-12158.9586,W,1,03,00.5,041.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160916.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160916.13,3648.9456,N,-12158.9586,W,1,03,00.5,042.0,M,-99.9,M,,*46 : Estimated North Bias at time = 1761.00 : -185.09 : Estimated East Bias at time = 1761.00 : -77.90 : Estimated Depth Bias at time = 1761.00 : -1.43 : Estimated northing and easting = 4074732.15 : 590661.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160917.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160917.13,3648.9456,N,-12158.9586,W,1,03,00.5,042.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160918.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1763.999158 : TerrainNav update at dvl time = 1763.999158 : _navData-> (x,y) = (4074917.06, 590739.70) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160918.13,3648.9456,N,-12158.9586,W,1,03,00.5,042.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,160919.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160919.13,3648.9455,N,-12158.9586,W,1,03,00.5,042.2,M,-99.9,M,,*48 : Estimated North Bias at time = 1764.00 : -185.00 : Estimated East Bias at time = 1764.00 : -77.91 : Estimated Depth Bias at time = 1764.00 : -1.43 : Estimated northing and easting = 4074732.06 : 590661.79 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160920.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160920.13,3648.9455,N,-12158.9585,W,1,03,00.5,042.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160921.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1766.998952 : TerrainNav update at dvl time = 1766.998952 : _navData-> (x,y) = (4074916.87, 590739.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160921.13,3648.9455,N,-12158.9585,W,1,03,00.5,042.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160922.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160922.13,3648.9454,N,-12158.9585,W,1,03,00.5,042.6,M,-99.9,M,,*46 : Estimated North Bias at time = 1767.00 : -184.94 : Estimated East Bias at time = 1767.00 : -77.90 : Estimated Depth Bias at time = 1767.00 : -1.43 : Estimated northing and easting = 4074731.93 : 590661.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160923.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160923.13,3648.9454,N,-12158.9584,W,1,03,00.5,043.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160924.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1769.998747 : TerrainNav update at dvl time = 1769.998747 : _navData-> (x,y) = (4074916.68, 590740.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160924.13,3648.9454,N,-12158.9584,W,1,03,00.5,043.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160925.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160925.13,3648.9453,N,-12158.9583,W,1,03,00.5,043.2,M,-99.9,M,,*45 : Estimated North Bias at time = 1770.00 : -184.91 : Estimated East Bias at time = 1770.00 : -77.88 : Estimated Depth Bias at time = 1770.00 : -1.43 : Estimated northing and easting = 4074731.77 : 590662.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160926.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160926.13,3648.9453,N,-12158.9583,W,1,03,00.5,043.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,160927.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1772.998541 : TerrainNav update at dvl time = 1772.998541 : _navData-> (x,y) = (4074916.49, 590740.23) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160927.13,3648.9452,N,-12158.9582,W,1,03,00.5,043.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160928.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160928.13,3648.9452,N,-12158.9582,W,1,03,00.5,043.6,M,-99.9,M,,*4c : Estimated North Bias at time = 1773.00 : -184.81 : Estimated East Bias at time = 1773.00 : -77.84 : Estimated Depth Bias at time = 1773.00 : -1.43 : Estimated northing and easting = 4074731.68 : 590662.39 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160929.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160929.13,3648.9452,N,-12158.9581,W,1,03,00.5,043.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160930.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1775.998336 : TerrainNav update at dvl time = 1775.998336 : _navData-> (x,y) = (4074916.29, 590740.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160930.13,3648.9451,N,-12158.9581,W,1,03,00.5,043.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160931.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160931.13,3648.9451,N,-12158.9580,W,1,03,00.5,043.5,M,-99.9,M,,*46 : Estimated North Bias at time = 1776.00 : -184.80 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : Estimated East Bias at time = 1776.00 : -77.74 : Estimated Depth Bias at time = 1776.00 : -1.43 : Estimated northing and easting = 4074731.49 : 590662.70 : AshtechGps::processRecord() - $GPGGA,160932.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,160932.13,3648.9451,N,-12158.9580,W,1,03,00.5,044.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160933.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1778.998130 : TerrainNav update at dvl time = 1778.998130 : _navData-> (x,y) = (4074916.06, 590740.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160933.13,3648.9450,N,-12158.9580,W,1,03,00.5,044.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160934.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160934.13,3648.9450,N,-12158.9579,W,1,03,00.5,044.6,M,-99.9,M,,*40 : Estimated North Bias at time = 1779.00 : -184.67 : Estimated East Bias at time = 1779.00 : -77.71 : Estimated Depth Bias at time = 1779.00 : -1.43 : Estimated northing and easting = 4074731.39 : 590662.92 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160935.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160935.13,3648.9449,N,-12158.9579,W,1,03,00.5,045.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,160936.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1781.997925 : TerrainNav update at dvl time = 1781.997925 : _navData-> (x,y) = (4074915.83, 590740.77) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160936.13,3648.9449,N,-12158.9579,W,1,03,00.5,045.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,160937.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160937.13,3648.9448,N,-12158.9578,W,1,03,00.5,045.0,M,-99.9,M,,*4c : Estimated North Bias at time = 1782.00 : -184.63 : Estimated East Bias at time = 1782.00 : -77.66 : Estimated Depth Bias at time = 1782.00 : -1.43 : Estimated northing and easting = 4074731.20 : 590663.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160938.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160938.13,3648.9448,N,-12158.9578,W,1,03,00.5,045.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160939.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1784.997719 : TerrainNav update at dvl time = 1784.997719 : _navData-> (x,y) = (4074915.59, 590740.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160939.13,3648.9448,N,-12158.9578,W,1,03,00.5,044.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,160940.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160940.13,3648.9447,N,-12158.9578,W,1,03,00.5,045.2,M,-99.9,M,,*41 : Estimated North Bias at time = 1785.00 : -184.41 : Estimated East Bias at time = 1785.00 : -77.50 : Estimated Depth Bias at time = 1785.00 : -1.43 : Estimated northing and easting = 4074731.17 : 590663.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160941.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160941.13,3648.9447,N,-12158.9578,W,1,03,00.5,044.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,160942.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1787.997514 : TerrainNav update at dvl time = 1787.997514 : _navData-> (x,y) = (4074915.33, 590740.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160942.13,3648.9446,N,-12158.9578,W,1,03,00.5,045.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160943.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160943.13,3648.9446,N,-12158.9578,W,1,03,00.5,045.2,M,-99.9,M,,*43 : Estimated North Bias at time = 1788.00 : -184.40 : Estimated East Bias at time = 1788.00 : -77.38 : Estimated Depth Bias at time = 1788.00 : -1.43 : Estimated northing and easting = 4074730.93 : 590663.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160944.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160944.13,3648.9445,N,-12158.9578,W,1,03,00.5,045.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160945.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1790.997308 : TerrainNav update at dvl time = 1790.997308 : _navData-> (x,y) = (4074915.06, 590740.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160945.13,3648.9445,N,-12158.9578,W,1,03,00.5,045.3,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160946.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160946.13,3648.9444,N,-12158.9578,W,1,03,00.5,045.3,M,-99.9,M,,*45 : Estimated North Bias at time = 1791.00 : -184.32 : Estimated East Bias at time = 1791.00 : -77.23 : Estimated Depth Bias at time = 1791.00 : -1.42 : Estimated northing and easting = 4074730.74 : 590663.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160947.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160947.13,3648.9444,N,-12158.9579,W,1,03,00.5,045.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,160948.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1793.997103 : TerrainNav update at dvl time = 1793.997103 : _navData-> (x,y) = (4074914.78, 590740.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160948.13,3648.9443,N,-12158.9579,W,1,03,00.5,045.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,160949.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160949.13,3648.9443,N,-12158.9579,W,1,03,00.5,046.2,M,-99.9,M,,*4e : Estimated North Bias at time = 1794.00 : -184.22 : Estimated East Bias at time = 1794.00 : -77.07 : Estimated Depth Bias at time = 1794.00 : -1.42 : Estimated northing and easting = 4074730.56 : 590663.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160950.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160950.13,3648.9442,N,-12158.9580,W,1,03,00.5,046.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,160951.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1796.996897 : TerrainNav update at dvl time = 1796.996897 : _navData-> (x,y) = (4074914.48, 590740.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160951.13,3648.9442,N,-12158.9580,W,1,03,00.5,046.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,160952.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160952.13,3648.9441,N,-12158.9581,W,1,03,00.5,046.7,M,-99.9,M,,*44 : Estimated North Bias at time = 1797.00 : -184.25 : Estimated East Bias at time = 1797.00 : -77.03 : Estimated Depth Bias at time = 1797.00 : -1.42 : Estimated northing and easting = 4074730.23 : 590663.56 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,160953.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160953.13,3648.9440,N,-12158.9581,W,1,03,00.5,046.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,160954.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1799.996692 : TerrainNav update at dvl time = 1799.996692 : _navData-> (x,y) = (4074914.19, 590740.40) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160954.13,3648.9440,N,-12158.9581,W,1,03,00.5,046.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,160955.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160955.13,3648.9439,N,-12158.9582,W,1,03,00.5,046.7,M,-99.9,M,,*4f : Estimated North Bias at time = 1800.00 : -184.29 : Estimated East Bias at time = 1800.00 : -76.99 : Estimated Depth Bias at time = 1800.00 : -1.42 : Estimated northing and easting = 4074729.90 : 590663.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160956.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160956.13,3648.9439,N,-12158.9582,W,1,03,00.5,047.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,160957.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1802.996486 : TerrainNav update at dvl time = 1802.996486 : _navData-> (x,y) = (4074913.89, 590740.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,160957.13,3648.9438,N,-12158.9582,W,1,03,00.5,046.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,160958.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,160958.13,3648.9438,N,-12158.9582,W,1,03,00.5,046.8,M,-99.9,M,,*4c : Estimated North Bias at time = 1803.00 : -184.16 : Estimated East Bias at time = 1803.00 : -76.93 : Estimated Depth Bias at time = 1803.00 : -1.42 : Estimated northing and easting = 4074729.73 : 590663.34 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,160959.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,160959.13,3648.9437,N,-12158.9582,W,1,03,00.5,047.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161000.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1805.996281 : TerrainNav update at dvl time = 1805.996281 : _navData-> (x,y) = (4074913.60, 590740.27) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161000.13,3648.9437,N,-12158.9582,W,1,03,00.5,047.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161001.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,161001.13,3648.9436,N,-12158.9582,W,1,03,00.5,047.5,M,-99.9,M,,*4a : Estimated North Bias at time = 1806.00 : -184.06 : Estimated East Bias at time = 1806.00 : -76.96 : Estimated Depth Bias at time = 1806.00 : -1.43 : Estimated northing and easting = 4074729.54 : 590663.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161002.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,161002.13,3648.9436,N,-12158.9582,W,1,03,00.5,048.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161003.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1808.996075 : TerrainNav update at dvl time = 1808.996075 : _navData-> (x,y) = (4074913.33, 590740.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161003.13,3648.9435,N,-12158.9581,W,1,03,00.5,047.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161004.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,161004.13,3648.9435,N,-12158.9581,W,1,03,00.5,047.7,M,-99.9,M,,*4d : Estimated North Bias at time = 1809.00 : -183.98 : Estimated East Bias at time = 1809.00 : -76.97 : Estimated Depth Bias at time = 1809.00 : -1.43 : Estimated northing and easting = 4074729.36 : 590663.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161005.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,161005.13,3648.9434,N,-12158.9580,W,1,03,00.5,048.0,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161006.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1811.995870 : TerrainNav update at dvl time = 1811.995870 : _navData-> (x,y) = (4074913.07, 590740.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161006.13,3648.9434,N,-12158.9580,W,1,03,00.5,047.8,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161007.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161007.13,3648.9433,N,-12158.9579,W,1,03,00.5,048.5,M,-99.9,M,,*42 : Estimated North Bias at time = 1812.00 : -183.78 : Estimated East Bias at time = 1812.00 : -76.92 : Estimated Depth Bias at time = 1812.00 : -1.43 : Estimated northing and easting = 4074729.29 : 590663.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161008.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,161008.13,3648.9433,N,-12158.9578,W,1,03,00.5,048.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161009.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1814.995664 : TerrainNav update at dvl time = 1814.995664 : _navData-> (x,y) = (4074912.81, 590740.95) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,161009.13,3648.9433,N,-12158.9578,W,1,03,00.5,048.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161010.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161010.13,3648.9432,N,-12158.9577,W,1,03,00.5,048.6,M,-99.9,M,,*48 : Estimated North Bias at time = 1815.00 : -183.61 : Estimated East Bias at time = 1815.00 : -76.83 : Estimated Depth Bias at time = 1815.00 : -1.43 : Estimated northing and easting = 4074729.20 : 590664.12 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161011.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,161011.13,3648.9432,N,-12158.9576,W,1,03,00.5,048.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161012.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1817.995459 : TerrainNav update at dvl time = 1817.995459 : _navData-> (x,y) = (4074912.54, 590741.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161012.13,3648.9431,N,-12158.9576,W,1,03,00.5,048.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161013.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161013.13,3648.9431,N,-12158.9575,W,1,03,00.5,048.9,M,-99.9,M,,*45 : Estimated North Bias at time = 1818.00 : -183.49 : Estimated East Bias at time = 1818.00 : -76.74 : Estimated Depth Bias at time = 1818.00 : -1.43 : Estimated northing and easting = 4074729.05 : 590664.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161014.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161014.13,3648.9430,N,-12158.9575,W,1,03,00.5,048.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161015.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1820.995253 : TerrainNav update at dvl time = 1820.995253 : _navData-> (x,y) = (4074912.26, 590741.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161015.13,3648.9430,N,-12158.9574,W,1,03,00.5,049.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161016.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,161016.13,3648.9429,N,-12158.9574,W,1,03,00.5,048.7,M,-99.9,M,,*46 : Estimated North Bias at time = 1821.00 : -183.39 : Estimated East Bias at time = 1821.00 : -76.67 : Estimated Depth Bias at time = 1821.00 : -1.42 : Estimated northing and easting = 4074728.88 : 590664.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161017.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161017.13,3648.9428,N,-12158.9573,W,1,03,00.5,049.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161018.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : TerrainNav update at nav time = 1823.995048 : TerrainNav update at dvl time = 1823.995048 : _navData-> (x,y) = (4074911.97, 590741.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161018.13,3648.9428,N,-12158.9573,W,1,03,00.5,049.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161019.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,161019.13,3648.9427,N,-12158.9572,W,1,03,00.5,048.8,M,-99.9,M,,*4e : Estimated North Bias at time = 1824.00 : -183.32 : Estimated East Bias at time = 1824.00 : -76.61 : Estimated Depth Bias at time = 1824.00 : -1.42 : Estimated northing and easting = 4074728.65 : 590665.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161020.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161020.13,3648.9427,N,-12158.9572,W,1,03,00.5,049.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=0 vert=-0.05 horzlMode=3 horz=1.79 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,161021.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DepthEnvelope -- Depth 217.908652 shallower than restart depth 275.591479 and altitude 50.017764 greater than min altitude 10.000000 at t= 1871.79. Starting prop! : TerrainNav update at nav time = 1826.994842 : TerrainNav update at dvl time = 1826.994842 : _navData-> (x,y) = (4074911.65, 590741.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161021.13,3648.9426,N,-12158.9572,W,1,03,00.5,050.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161022.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.79 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161022.14,3648.9426,N,-12158.9571,W,1,03,00.5,049.9,M,-99.9,M,,*43 : Estimated North Bias at time = 1826.99 : -183.27 : Estimated East Bias at time = 1826.99 : -76.55 : Estimated Depth Bias at time = 1826.99 : -1.42 : Estimated northing and easting = 4074728.38 : 590665.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161023.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.99 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161023.14,3648.9425,N,-12158.9571,W,1,03,00.5,049.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161024.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1829.994637 : TerrainNav update at dvl time = 1829.994637 : _navData-> (x,y) = (4074911.37, 590741.95) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161024.14,3648.9425,N,-12158.9571,W,1,03,00.5,049.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161025.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=217.18 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161025.14,3648.9425,N,-12158.9571,W,1,03,00.5,050.0,M,-99.9,M,,*46 : Estimated North Bias at time = 1829.99 : -183.24 : Estimated East Bias at time = 1829.99 : -76.44 : Estimated Depth Bias at time = 1829.99 : -1.42 : Estimated northing and easting = 4074728.12 : 590665.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161026.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=217.27 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161026.14,3648.9425,N,-12158.9571,W,1,03,00.5,050.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161027.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1832.994431 : TerrainNav update at dvl time = 1832.994431 : _navData-> (x,y) = (4074911.68, 590741.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161027.14,3648.9427,N,-12158.9572,W,1,03,00.5,050.1,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=217.22 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161028.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161028.14,3648.9429,N,-12158.9572,W,1,03,00.5,050.7,M,-99.9,M,,*43 : Estimated North Bias at time = 1832.99 : -183.57 : Estimated East Bias at time = 1832.99 : -76.38 : Estimated Depth Bias at time = 1832.99 : -1.42 : Estimated northing and easting = 4074728.11 : 590665.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161029.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=217.28 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161029.14,3648.9431,N,-12158.9572,W,1,03,00.5,050.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161030.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1835.994226 : TerrainNav update at dvl time = 1835.994226 : _navData-> (x,y) = (4074912.94, 590741.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=217.69 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161030.14,3648.9434,N,-12158.9572,W,1,03,00.5,051.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161031.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161031.14,3648.9437,N,-12158.9571,W,1,03,00.5,051.1,M,-99.9,M,,*40 : Estimated North Bias at time = 1835.99 : -184.12 : Estimated East Bias at time = 1835.99 : -76.59 : Estimated Depth Bias at time = 1835.99 : -1.42 : Estimated northing and easting = 4074728.82 : 590665.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161032.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=217.67 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161032.14,3648.9441,N,-12158.9570,W,1,03,00.5,051.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161033.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=218.87 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1838.994020 : TerrainNav update at dvl time = 1838.994020 : _navData-> (x,y) = (4074915.02, 590742.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161033.14,3648.9445,N,-12158.9569,W,1,03,00.5,052.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161034.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161034.14,3648.9450,N,-12158.9567,W,1,03,00.5,052.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=218.88 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : Estimated North Bias at time = 1838.99 : -184.41 : Estimated East Bias at time = 1838.99 : -77.35 : Estimated Depth Bias at time = 1838.99 : -1.42 : Estimated northing and easting = 4074730.60 : 590664.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161035.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161035.14,3648.9454,N,-12158.9565,W,1,03,00.5,052.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161036.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.01 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1841.993815 : TerrainNav update at dvl time = 1841.993815 : _navData-> (x,y) = (4074917.41, 590743.18) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161036.14,3648.9458,N,-12158.9562,W,1,03,00.5,050.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161037.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.18 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161037.14,3648.9462,N,-12158.9559,W,1,03,00.5,049.5,M,-99.9,M,,*41 : Estimated North Bias at time = 1841.99 : -184.28 : Estimated East Bias at time = 1841.99 : -78.37 : Estimated Depth Bias at time = 1841.99 : -1.42 : Estimated northing and easting = 4074733.13 : 590664.80 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161038.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161038.14,3648.9466,N,-12158.9554,W,1,03,00.5,050.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161039.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=216.93 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1844.993609 : TerrainNav update at dvl time = 1844.993609 : _navData-> (x,y) = (4074919.47, 590744.92) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 1844.99 : -183.77 : Estimated East Bias at time = 1844.99 : -79.54 : Estimated Depth Bias at time = 1844.99 : -1.42 : Estimated northing and easting = 4074735.70 : 590665.38 : NMEA Update: $GPGGA,161039.14,3648.9469,N,-12158.9550,W,1,03,00.5,1000.0,M,-99.9,M,,*74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161040.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161040.13,3648.9472,N,-12158.9544,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,161041.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161041.13,3648.9474,N,-12158.9538,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161042.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1847.993404 : TerrainNav update at dvl time = 1847.993404 : _navData-> (x,y) = (4074920.84, 590747.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161042.13,3648.9476,N,-12158.9532,W,1,03,00.5,1000.0,M,-99.9,M,,*75 : AshtechGps::processRecord() - $GPGGA,161043.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161043.13,3648.9477,N,-12158.9525,W,1,03,00.5,056.2,M,-99.9,M,,*43 : Estimated North Bias at time = 1847.99 : -182.94 : Estimated East Bias at time = 1847.99 : -80.36 : Estimated Depth Bias at time = 1847.99 : -1.42 : Estimated northing and easting = 4074737.89 : 590667.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161044.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=224.50 horzlMode=3 horz=1.79 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161044.13,3648.9477,N,-12158.9518,W,1,03,00.5,056.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161045.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Behavior waypoint - Timed out! : LayeredControl::execute() -- (t = 1896.000115) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 1896.000115) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 1896.00 (wplog) The current location (N,E) = 4074921.1 , 590750.4 (wplog) The next waypoint = 4074758.7 , 591347.7 (wplog) The bearing to the next w.p. is 105.2 Degrees. : LayeredControl::execute() -- (t = 1896.000115) Behavior waypoint:-1 has changed to state Active : TerrainNav update at nav time = 1850.993198 : TerrainNav update at dvl time = 1850.993198 : _navData-> (x,y) = (4074921.11, 590750.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161045.13,3648.9477,N,-12158.9511,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : AshtechGps::processRecord() - $GPGGA,161046.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161046.13,3648.9475,N,-12158.9505,W,1,03,00.5,1000.0,M,-99.9,M,,*76 : Estimated North Bias at time = 1850.99 : -181.83 : Estimated East Bias at time = 1850.99 : -80.47 : Estimated Depth Bias at time = 1850.99 : -1.40 : Estimated northing and easting = 4074739.27 : 590670.09 : AshtechGps::processRecord() - $GPGGA,161047.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=280.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161047.13,3648.9473,N,-12158.9498,W,1,03,00.5,047.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161048.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1854.002992 : TerrainNav update at dvl time = 1854.002992 : _navData-> (x,y) = (4074920.06, 590753.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161048.13,3648.9471,N,-12158.9493,W,1,03,00.5,046.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=215.17 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161049.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1854.00 : -181.27 : Estimated East Bias at time = 1854.00 : -79.74 : Estimated Depth Bias at time = 1854.00 : -1.36 : Estimated northing and easting = 4074738.79 : 590673.65 : NMEA Update: $GPGGA,161049.13,3648.9467,N,-12158.9487,W,1,03,00.5,046.5,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161050.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=214.23 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161050.13,3648.9463,N,-12158.9482,W,1,03,00.5,045.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161051.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1857.002786 : TerrainNav update at dvl time = 1857.002786 : _navData-> (x,y) = (4074918.00, 590755.61) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=213.99 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161051.13,3648.9459,N,-12158.9478,W,1,03,00.5,045.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161052.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161052.13,3648.9454,N,-12158.9473,W,1,03,00.5,045.6,M,-99.9,M,,*46 : Estimated North Bias at time = 1857.00 : -181.01 : Estimated East Bias at time = 1857.00 : -78.55 : Estimated Depth Bias at time = 1857.00 : -1.34 : Estimated northing and easting = 4074737.00 : 590677.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161053.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=215.14 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161053.13,3648.9450,N,-12158.9469,W,1,03,00.5,045.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161054.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=215.39 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1860.002581 : TerrainNav update at dvl time = 1860.002581 : _navData-> (x,y) = (4074915.53, 590757.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161054.13,3648.9445,N,-12158.9464,W,1,03,00.5,045.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161055.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1860.00 : -180.27 : Estimated East Bias at time = 1860.00 : -78.09 : Estimated Depth Bias at time = 1860.00 : -1.33 : Estimated northing and easting = 4074735.26 : 590679.66 : NMEA Update: $GPGGA,161055.13,3648.9441,N,-12158.9458,W,1,03,00.5,046.4,M,-99.9,M,,*4d : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=216.39 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161056.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161056.13,3648.9437,N,-12158.9452,W,1,03,00.5,044.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161057.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=212.95 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1863.002375 : TerrainNav update at dvl time = 1863.002375 : _navData-> (x,y) = (4074913.38, 590760.56) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161057.13,3648.9434,N,-12158.9444,W,1,03,00.5,042.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161058.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1863.00 : -180.19 : Estimated East Bias at time = 1863.00 : -78.03 : Estimated Depth Bias at time = 1863.00 : -1.33 : Estimated northing and easting = 4074733.20 : 590682.53 : LayeredControl _resolvedCommand - vertMode=2 vert=211.55 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161058.13,3648.9432,N,-12158.9437,W,1,03,00.5,040.8,M,-99.9,M,,*47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161059.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161059.13,3648.9430,N,-12158.9429,W,1,03,00.5,039.9,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161100.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=213.37 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1866.002170 : TerrainNav update at dvl time = 1866.002170 : _navData-> (x,y) = (4074912.44, 590764.07) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161100.13,3648.9429,N,-12158.9421,W,1,03,00.5,040.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161101.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=210.22 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161101.13,3648.9429,N,-12158.9413,W,1,03,00.5,039.4,M,-99.9,M,,*44 : Estimated North Bias at time = 1866.00 : -181.33 : Estimated East Bias at time = 1866.00 : -78.47 : Estimated Depth Bias at time = 1866.00 : -1.33 : Estimated northing and easting = 4074731.11 : 590685.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161102.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161102.13,3648.9429,N,-12158.9405,W,1,03,00.5,038.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=209.01 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161103.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1869.001965 : TerrainNav update at dvl time = 1869.001965 : _navData-> (x,y) = (4074912.39, 590767.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161103.13,3648.9429,N,-12158.9396,W,1,03,00.5,037.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161104.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=207.43 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161104.13,3648.9429,N,-12158.9388,W,1,03,00.5,037.2,M,-99.9,M,,*4c : Estimated North Bias at time = 1869.00 : -182.55 : Estimated East Bias at time = 1869.00 : -78.81 : Estimated Depth Bias at time = 1869.00 : -1.34 : Estimated northing and easting = 4074729.84 : 590688.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161105.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=206.71 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161105.13,3648.9430,N,-12158.9380,W,1,03,00.5,036.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161106.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1872.001759 : TerrainNav update at dvl time = 1872.001759 : _navData-> (x,y) = (4074912.75, 590771.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161106.13,3648.9431,N,-12158.9371,W,1,03,00.5,036.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161107.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=206.04 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161107.13,3648.9431,N,-12158.9362,W,1,03,00.5,036.7,M,-99.9,M,,*46 : Estimated North Bias at time = 1872.00 : -183.76 : Estimated East Bias at time = 1872.00 : -79.07 : Estimated Depth Bias at time = 1872.00 : -1.36 : Estimated northing and easting = 4074729.00 : 590692.34 : AshtechGps::processRecord() - $GPGGA,161108.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=204.78 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161108.13,3648.9432,N,-12158.9354,W,1,03,00.5,036.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161109.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1875.001554 : TerrainNav update at dvl time = 1875.001554 : _navData-> (x,y) = (4074913.19, 590775.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161109.13,3648.9433,N,-12158.9345,W,1,03,00.5,036.3,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=204.45 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161110.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161110.13,3648.9433,N,-12158.9336,W,1,03,00.5,036.6,M,-99.9,M,,*42 : Estimated North Bias at time = 1875.00 : -184.65 : Estimated East Bias at time = 1875.00 : -79.14 : Estimated Depth Bias at time = 1875.00 : -1.38 : Estimated northing and easting = 4074728.54 : 590696.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161111.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=203.54 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161111.13,3648.9434,N,-12158.9326,W,1,03,00.5,036.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161112.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1878.001348 : TerrainNav update at dvl time = 1878.001348 : _navData-> (x,y) = (4074913.45, 590779.42) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=202.89 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161112.13,3648.9434,N,-12158.9317,W,1,03,00.5,036.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161113.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161113.13,3648.9434,N,-12158.9308,W,1,03,00.5,036.3,M,-99.9,M,,*4e : Estimated North Bias at time = 1878.00 : -185.30 : Estimated East Bias at time = 1878.00 : -79.17 : Estimated Depth Bias at time = 1878.00 : -1.39 : Estimated northing and easting = 4074728.14 : 590700.24 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161114.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=201.90 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161114.13,3648.9434,N,-12158.9299,W,1,03,00.5,036.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161115.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=201.03 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1881.001143 : TerrainNav update at dvl time = 1881.001143 : _navData-> (x,y) = (4074913.44, 590783.60) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161115.13,3648.9433,N,-12158.9289,W,1,03,00.5,036.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161116.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161116.13,3648.9433,N,-12158.9279,W,1,03,00.5,036.5,M,-99.9,M,,*4d : Estimated North Bias at time = 1881.00 : -185.86 : Estimated East Bias at time = 1881.00 : -79.05 : Estimated Depth Bias at time = 1881.00 : -1.40 : Estimated northing and easting = 4074727.58 : 590704.55 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=201.11 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161117.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161117.13,3648.9432,N,-12158.9270,W,1,03,00.5,036.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161118.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=200.29 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1884.000937 : TerrainNav update at dvl time = 1884.000937 : _navData-> (x,y) = (4074913.18, 590787.87) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161118.13,3648.9432,N,-12158.9260,W,1,03,00.5,037.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161119.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=199.86 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161119.13,3648.9431,N,-12158.9251,W,1,03,00.5,037.9,M,-99.9,M,,*47 : Estimated North Bias at time = 1884.00 : -186.26 : Estimated East Bias at time = 1884.00 : -79.03 : Estimated Depth Bias at time = 1884.00 : -1.40 : Estimated northing and easting = 4074726.93 : 590708.84 : AshtechGps::processRecord() - $GPGGA,161120.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161120.13,3648.9430,N,-12158.9241,W,1,03,00.5,038.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161121.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=199.29 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1887.000731 : TerrainNav update at dvl time = 1887.000731 : _navData-> (x,y) = (4074912.67, 590792.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161121.13,3648.9429,N,-12158.9231,W,1,03,00.5,038.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161122.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=198.77 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161122.13,3648.9427,N,-12158.9221,W,1,03,00.5,038.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1887.00 : -186.53 : Estimated East Bias at time = 1887.00 : -79.03 : Estimated Depth Bias at time = 1887.00 : -1.40 : Estimated northing and easting = 4074726.13 : 590713.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161123.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161123.13,3648.9426,N,-12158.9211,W,1,03,00.5,039.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=199.41 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161124.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1890.000526 : TerrainNav update at dvl time = 1890.000526 : _navData-> (x,y) = (4074911.94, 590796.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161124.13,3648.9424,N,-12158.9201,W,1,03,00.5,039.7,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161125.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=199.11 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161125.13,3648.9423,N,-12158.9191,W,1,03,00.5,040.6,M,-99.9,M,,*4b : Estimated North Bias at time = 1890.00 : -186.74 : Estimated East Bias at time = 1890.00 : -78.94 : Estimated Depth Bias at time = 1890.00 : -1.40 : Estimated northing and easting = 4074725.19 : 590717.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161126.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=199.12 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161126.13,3648.9421,N,-12158.9181,W,1,03,00.5,041.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161127.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1893.000320 : TerrainNav update at dvl time = 1893.000320 : _navData-> (x,y) = (4074910.98, 590801.23) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161127.13,3648.9419,N,-12158.9170,W,1,03,00.5,041.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161128.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=198.03 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161128.13,3648.9417,N,-12158.9160,W,1,03,00.5,041.3,M,-99.9,M,,*4b : Estimated North Bias at time = 1893.00 : -186.83 : Estimated East Bias at time = 1893.00 : -78.87 : Estimated Depth Bias at time = 1893.00 : -1.40 : Estimated northing and easting = 4074724.15 : 590722.36 : AshtechGps::processRecord() - $GPGGA,161129.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=197.25 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161129.13,3648.9414,N,-12158.9150,W,1,03,00.5,041.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161130.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1896.000115 : TerrainNav update at dvl time = 1896.000115 : _navData-> (x,y) = (4074909.78, 590805.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161130.13,3648.9412,N,-12158.9140,W,1,03,00.5,041.9,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=197.42 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161131.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161131.13,3648.9409,N,-12158.9130,W,1,03,00.5,042.1,M,-99.9,M,,*48 : Estimated North Bias at time = 1896.00 : -186.88 : Estimated East Bias at time = 1896.00 : -78.89 : Estimated Depth Bias at time = 1896.00 : -1.40 : Estimated northing and easting = 4074722.90 : 590726.84 : AshtechGps::processRecord() - $GPGGA,161132.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=197.21 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161132.13,3648.9407,N,-12158.9121,W,1,03,00.5,042.3,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161133.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1898.999909 : TerrainNav update at dvl time = 1898.999909 : _navData-> (x,y) = (4074908.39, 590810.13) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=196.85 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161133.13,3648.9404,N,-12158.9111,W,1,03,00.5,042.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161134.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161134.13,3648.9401,N,-12158.9101,W,1,03,00.5,042.8,M,-99.9,M,,*4e : Estimated North Bias at time = 1899.00 : -187.01 : Estimated East Bias at time = 1899.00 : -78.95 : Estimated Depth Bias at time = 1899.00 : -1.40 : Estimated northing and easting = 4074721.37 : 590731.18 : AshtechGps::processRecord() - $GPGGA,161135.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=196.30 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161135.13,3648.9399,N,-12158.9091,W,1,03,00.5,043.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161136.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.43 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1901.999704 : TerrainNav update at dvl time = 1901.999704 : _navData-> (x,y) = (4074906.87, 590814.48) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161136.13,3648.9396,N,-12158.9082,W,1,03,00.5,042.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161137.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161137.13,3648.9393,N,-12158.9072,W,1,03,00.5,042.9,M,-99.9,M,,*45 : LayeredControl _resolvedCommand - vertMode=2 vert=194.95 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161138.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1902.00 : -187.27 : Estimated East Bias at time = 1902.00 : -78.99 : Estimated Depth Bias at time = 1902.00 : -1.40 : Estimated northing and easting = 4074719.60 : 590735.49 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161138.13,3648.9390,N,-12158.9062,W,1,03,00.5,044.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161139.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=195.42 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1904.999498 : TerrainNav update at dvl time = 1904.999498 : _navData-> (x,y) = (4074905.23, 590818.83) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161139.13,3648.9387,N,-12158.9053,W,1,03,00.5,043.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161140.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=194.31 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161140.13,3648.9383,N,-12158.9043,W,1,03,00.5,043.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161141.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1905.00 : -187.55 : Estimated East Bias at time = 1905.00 : -79.15 : Estimated Depth Bias at time = 1905.00 : -1.40 : Estimated northing and easting = 4074717.68 : 590739.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161141.13,3648.9380,N,-12158.9033,W,1,03,00.5,044.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161142.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=194.11 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1907.999293 : TerrainNav update at dvl time = 1907.999293 : _navData-> (x,y) = (4074903.55, 590823.14) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161142.13,3648.9377,N,-12158.9024,W,1,03,00.5,045.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161143.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=193.90 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161143.13,3648.9374,N,-12158.9014,W,1,03,00.5,045.0,M,-99.9,M,,*41 : Estimated North Bias at time = 1908.00 : -187.98 : Estimated East Bias at time = 1908.00 : -79.28 : Estimated Depth Bias at time = 1908.00 : -1.39 : Estimated northing and easting = 4074715.57 : 590743.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161144.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161144.13,3648.9371,N,-12158.9004,W,1,03,00.5,045.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=193.84 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161145.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1910.999088 : TerrainNav update at dvl time = 1910.999088 : _navData-> (x,y) = (4074901.84, 590827.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161145.13,3648.9368,N,-12158.8995,W,1,03,00.5,045.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161146.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=193.10 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161146.13,3648.9364,N,-12158.8985,W,1,03,00.5,045.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161147.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1911.00 : -188.65 : Estimated East Bias at time = 1911.00 : -79.55 : Estimated Depth Bias at time = 1911.00 : -1.39 : Estimated northing and easting = 4074713.18 : 590747.91 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=192.87 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161147.13,3648.9361,N,-12158.8975,W,1,03,00.5,046.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161148.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1913.998882 : TerrainNav update at dvl time = 1913.998882 : _navData-> (x,y) = (4074900.07, 590831.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161148.13,3648.9358,N,-12158.8966,W,1,03,00.5,046.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161149.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=192.48 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161149.13,3648.9355,N,-12158.8956,W,1,03,00.5,046.2,M,-99.9,M,,*47 : Estimated North Bias at time = 1914.00 : -189.49 : Estimated East Bias at time = 1914.00 : -79.84 : Estimated Depth Bias at time = 1914.00 : -1.39 : Estimated northing and easting = 4074710.58 : 590751.98 : AshtechGps::processRecord() - $GPGGA,161150.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=192.47 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161150.13,3648.9351,N,-12158.8946,W,1,03,00.5,047.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161151.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1916.998677 : TerrainNav update at dvl time = 1916.998677 : _navData-> (x,y) = (4074898.35, 590836.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161151.13,3648.9348,N,-12158.8936,W,1,03,00.5,047.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=192.42 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161152.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161152.13,3648.9345,N,-12158.8926,W,1,03,00.5,047.5,M,-99.9,M,,*4d : Estimated North Bias at time = 1917.00 : -190.74 : Estimated East Bias at time = 1917.00 : -80.37 : Estimated Depth Bias at time = 1917.00 : -1.39 : Estimated northing and easting = 4074707.61 : 590755.82 : AshtechGps::processRecord() - $GPGGA,161153.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=192.66 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161153.13,3648.9342,N,-12158.8917,W,1,03,00.5,048.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161154.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1919.998471 : TerrainNav update at dvl time = 1919.998471 : _navData-> (x,y) = (4074896.74, 590840.62) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=191.98 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161154.13,3648.9339,N,-12158.8907,W,1,03,00.5,048.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161155.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161155.13,3648.9337,N,-12158.8897,W,1,03,00.5,048.9,M,-99.9,M,,*47 : Estimated North Bias at time = 1920.00 : -191.92 : Estimated East Bias at time = 1920.00 : -80.88 : Estimated Depth Bias at time = 1920.00 : -1.39 : Estimated northing and easting = 4074704.82 : 590759.75 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161156.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=191.93 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161156.13,3648.9334,N,-12158.8886,W,1,03,00.5,049.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161157.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=192.26 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1922.998266 : TerrainNav update at dvl time = 1922.998266 : _navData-> (x,y) = (4074895.26, 590845.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161157.13,3648.9331,N,-12158.8876,W,1,03,00.5,049.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161158.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161158.13,3648.9328,N,-12158.8866,W,1,03,00.5,049.8,M,-99.9,M,,*4a : Estimated North Bias at time = 1923.00 : -193.30 : Estimated East Bias at time = 1923.00 : -81.54 : Estimated Depth Bias at time = 1923.00 : -1.39 : Estimated northing and easting = 4074701.96 : 590763.59 : LayeredControl _resolvedCommand - vertMode=2 vert=192.12 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161159.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161159.13,3648.9326,N,-12158.8856,W,1,03,00.5,049.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161200.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=191.82 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1925.998060 : TerrainNav update at dvl time = 1925.998060 : _navData-> (x,y) = (4074893.84, 590849.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161200.13,3648.9323,N,-12158.8846,W,1,03,00.5,049.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161201.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=192.46 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161201.13,3648.9321,N,-12158.8836,W,1,03,00.5,050.6,M,-99.9,M,,*4f : Estimated North Bias at time = 1926.00 : -194.46 : Estimated East Bias at time = 1926.00 : -82.17 : Estimated Depth Bias at time = 1926.00 : -1.39 : Estimated northing and easting = 4074699.37 : 590767.51 : AshtechGps::processRecord() - $GPGGA,161202.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161202.13,3648.9318,N,-12158.8825,W,1,03,00.5,050.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161203.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=191.94 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1928.997854 : TerrainNav update at dvl time = 1928.997854 : _navData-> (x,y) = (4074892.44, 590854.24) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161203.13,3648.9315,N,-12158.8815,W,1,03,00.5,050.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161204.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=191.90 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161204.13,3648.9313,N,-12158.8805,W,1,03,00.5,050.3,M,-99.9,M,,*4e : Estimated North Bias at time = 1929.00 : -195.65 : Estimated East Bias at time = 1929.00 : -82.89 : Estimated Depth Bias at time = 1929.00 : -1.39 : Estimated northing and easting = 4074696.79 : 590771.35 : AshtechGps::processRecord() - $GPGGA,161205.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161205.13,3648.9310,N,-12158.8795,W,1,03,00.5,049.9,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=191.44 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161206.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1931.997649 : TerrainNav update at dvl time = 1931.997649 : _navData-> (x,y) = (4074891.07, 590858.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161206.13,3648.9308,N,-12158.8785,W,1,03,00.5,049.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161207.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=191.21 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161207.13,3648.9305,N,-12158.8774,W,1,03,00.5,049.5,M,-99.9,M,,*4d : Estimated North Bias at time = 1932.00 : -196.68 : Estimated East Bias at time = 1932.00 : -83.44 : Estimated Depth Bias at time = 1932.00 : -1.39 : Estimated northing and easting = 4074694.39 : 590775.38 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161208.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=190.55 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161208.13,3648.9303,N,-12158.8764,W,1,03,00.5,049.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161209.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1934.997443 : TerrainNav update at dvl time = 1934.997443 : _navData-> (x,y) = (4074889.76, 590863.38) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161209.13,3648.9300,N,-12158.8754,W,1,03,00.5,049.4,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161210.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=190.48 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161210.13,3648.9298,N,-12158.8744,W,1,03,00.5,049.2,M,-99.9,M,,*4a : Estimated North Bias at time = 1935.00 : -197.88 : Estimated East Bias at time = 1935.00 : -84.10 : Estimated Depth Bias at time = 1935.00 : -1.39 : Estimated northing and easting = 4074691.88 : 590779.28 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161211.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=189.63 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161211.13,3648.9296,N,-12158.8734,W,1,03,00.5,048.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161212.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1937.997238 : TerrainNav update at dvl time = 1937.997238 : _navData-> (x,y) = (4074888.49, 590867.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161212.13,3648.9293,N,-12158.8723,W,1,03,00.5,049.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=189.97 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161213.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161213.13,3648.9291,N,-12158.8713,W,1,03,00.5,048.8,M,-99.9,M,,*49 : Estimated North Bias at time = 1938.00 : -199.07 : Estimated East Bias at time = 1938.00 : -84.74 : Estimated Depth Bias at time = 1938.00 : -1.39 : Estimated northing and easting = 4074689.42 : 590783.20 : AshtechGps::processRecord() - $GPGGA,161214.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=189.66 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161214.13,3648.9289,N,-12158.8703,W,1,03,00.5,048.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161215.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1940.997032 : TerrainNav update at dvl time = 1940.997032 : _navData-> (x,y) = (4074887.22, 590872.47) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=189.36 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161215.13,3648.9286,N,-12158.8693,W,1,03,00.5,048.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161216.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161216.13,3648.9284,N,-12158.8683,W,1,03,00.5,048.1,M,-99.9,M,,*49 : Estimated North Bias at time = 1941.00 : -200.35 : Estimated East Bias at time = 1941.00 : -85.46 : Estimated Depth Bias at time = 1941.00 : -1.40 : Estimated northing and easting = 4074686.87 : 590787.01 : AshtechGps::processRecord() - $GPGGA,161217.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=188.30 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161217.13,3648.9281,N,-12158.8673,W,1,03,00.5,047.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161218.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=187.66 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1943.996827 : TerrainNav update at dvl time = 1943.996827 : _navData-> (x,y) = (4074885.95, 590877.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161218.13,3648.9279,N,-12158.8663,W,1,03,00.5,047.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161219.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161219.13,3648.9277,N,-12158.8652,W,1,03,00.5,047.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=187.26 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1944.00 : -201.12 : Estimated East Bias at time = 1944.00 : -85.90 : Estimated Depth Bias at time = 1944.00 : -1.40 : Estimated northing and easting = 4074684.83 : 590791.11 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161220.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161220.13,3648.9274,N,-12158.8642,W,1,03,00.5,047.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161221.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=186.37 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1946.996621 : TerrainNav update at dvl time = 1946.996621 : _navData-> (x,y) = (4074884.70, 590881.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161221.13,3648.9272,N,-12158.8632,W,1,03,00.5,047.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161222.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=186.80 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161222.13,3648.9270,N,-12158.8622,W,1,03,00.5,047.3,M,-99.9,M,,*43 : Estimated North Bias at time = 1947.00 : -202.09 : Estimated East Bias at time = 1947.00 : -86.39 : Estimated Depth Bias at time = 1947.00 : -1.40 : Estimated northing and easting = 4074682.61 : 590795.16 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161223.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161223.13,3648.9267,N,-12158.8612,W,1,03,00.5,046.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161224.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=186.29 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1949.996416 : TerrainNav update at dvl time = 1949.996416 : _navData-> (x,y) = (4074883.47, 590886.09) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161224.13,3648.9265,N,-12158.8602,W,1,03,00.5,046.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161225.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=185.49 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161225.13,3648.9263,N,-12158.8592,W,1,03,00.5,046.7,M,-99.9,M,,*4b : Estimated North Bias at time = 1950.00 : -203.16 : Estimated East Bias at time = 1950.00 : -86.89 : Estimated Depth Bias at time = 1950.00 : -1.39 : Estimated northing and easting = 4074680.31 : 590799.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161226.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161226.13,3648.9261,N,-12158.8581,W,1,03,00.5,046.8,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=185.18 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161227.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1952.996211 : TerrainNav update at dvl time = 1952.996211 : _navData-> (x,y) = (4074882.26, 590890.63) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161227.13,3648.9258,N,-12158.8571,W,1,03,00.5,047.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161228.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=184.64 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161228.13,3648.9256,N,-12158.8561,W,1,03,00.5,047.4,M,-99.9,M,,*4e : Estimated North Bias at time = 1953.00 : -204.36 : Estimated East Bias at time = 1953.00 : -87.41 : Estimated Depth Bias at time = 1953.00 : -1.39 : Estimated northing and easting = 4074677.90 : 590803.22 : AshtechGps::processRecord() - $GPGGA,161229.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=184.46 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161229.13,3648.9254,N,-12158.8551,W,1,03,00.5,047.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161230.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1955.996005 : TerrainNav update at dvl time = 1955.996005 : _navData-> (x,y) = (4074881.08, 590895.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161230.13,3648.9252,N,-12158.8541,W,1,03,00.5,047.3,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161231.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=184.23 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161231.13,3648.9249,N,-12158.8531,W,1,03,00.5,047.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161232.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1956.00 : -205.66 : Estimated East Bias at time = 1956.00 : -87.92 : Estimated Depth Bias at time = 1956.00 : -1.39 : Estimated northing and easting = 4074675.42 : 590807.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=183.96 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161232.13,3648.9247,N,-12158.8521,W,1,03,00.5,047.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161233.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1958.995800 : TerrainNav update at dvl time = 1958.995800 : _navData-> (x,y) = (4074879.91, 590899.69) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161233.13,3648.9245,N,-12158.8510,W,1,03,00.5,047.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=183.70 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161234.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161234.13,3648.9243,N,-12158.8500,W,1,03,00.5,047.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161235.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1959.00 : -207.01 : Estimated East Bias at time = 1959.00 : -88.51 : Estimated Depth Bias at time = 1959.00 : -1.39 : Estimated northing and easting = 4074672.91 : 590811.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=183.10 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161235.13,3648.9241,N,-12158.8490,W,1,03,00.5,047.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161236.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1961.995594 : TerrainNav update at dvl time = 1961.995594 : _navData-> (x,y) = (4074878.76, 590904.25) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=182.74 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161236.13,3648.9239,N,-12158.8480,W,1,03,00.5,047.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161237.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161237.13,3648.9236,N,-12158.8470,W,1,03,00.5,047.9,M,-99.9,M,,*4a : Estimated North Bias at time = 1962.00 : -208.14 : Estimated East Bias at time = 1962.00 : -88.93 : Estimated Depth Bias at time = 1962.00 : -1.39 : Estimated northing and easting = 4074670.61 : 590815.32 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161238.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=183.18 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161238.13,3648.9234,N,-12158.8459,W,1,03,00.5,047.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161239.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=182.86 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1964.995389 : TerrainNav update at dvl time = 1964.995389 : _navData-> (x,y) = (4074877.60, 590908.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161239.13,3648.9232,N,-12158.8449,W,1,03,00.5,048.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161240.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161240.13,3648.9230,N,-12158.8439,W,1,03,00.5,048.6,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=182.48 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1965.00 : -209.50 : Estimated East Bias at time = 1965.00 : -89.52 : Estimated Depth Bias at time = 1965.00 : -1.39 : Estimated northing and easting = 4074668.10 : 590819.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161241.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161241.13,3648.9228,N,-12158.8428,W,1,03,00.5,048.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161242.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=181.69 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1967.995183 : TerrainNav update at dvl time = 1967.995183 : _navData-> (x,y) = (4074876.44, 590913.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161242.13,3648.9226,N,-12158.8418,W,1,03,00.5,048.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161243.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=181.62 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161243.13,3648.9223,N,-12158.8407,W,1,03,00.5,048.4,M,-99.9,M,,*4f : Estimated North Bias at time = 1968.00 : -210.59 : Estimated East Bias at time = 1968.00 : -89.87 : Estimated Depth Bias at time = 1968.00 : -1.39 : Estimated northing and easting = 4074665.85 : 590823.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161244.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161244.13,3648.9221,N,-12158.8397,W,1,03,00.5,048.4,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161245.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=181.38 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1970.994977 : TerrainNav update at dvl time = 1970.994977 : _navData-> (x,y) = (4074875.28, 590918.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161245.13,3648.9219,N,-12158.8386,W,1,03,00.5,048.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161246.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=181.11 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161246.13,3648.9217,N,-12158.8376,W,1,03,00.5,048.5,M,-99.9,M,,*4d : Estimated North Bias at time = 1970.99 : -211.79 : Estimated East Bias at time = 1970.99 : -90.28 : Estimated Depth Bias at time = 1970.99 : -1.39 : Estimated northing and easting = 4074663.50 : 590827.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161247.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161247.13,3648.9215,N,-12158.8365,W,1,03,00.5,048.5,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=180.74 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161248.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1973.994772 : TerrainNav update at dvl time = 1973.994772 : _navData-> (x,y) = (4074874.12, 590922.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161248.14,3648.9212,N,-12158.8355,W,1,03,00.5,048.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161249.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=180.52 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161249.14,3648.9210,N,-12158.8345,W,1,03,00.5,048.5,M,-99.9,M,,*42 : Estimated North Bias at time = 1973.99 : -212.98 : Estimated East Bias at time = 1973.99 : -90.63 : Estimated Depth Bias at time = 1973.99 : -1.39 : Estimated northing and easting = 4074661.14 : 590832.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161250.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=180.25 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161250.14,3648.9208,N,-12158.8334,W,1,03,00.5,048.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161251.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1976.994566 : TerrainNav update at dvl time = 1976.994566 : _navData-> (x,y) = (4074872.93, 590927.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161251.14,3648.9206,N,-12158.8324,W,1,03,00.5,048.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161252.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=179.91 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161252.14,3648.9203,N,-12158.8314,W,1,03,00.5,048.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161253.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1976.99 : -213.92 : Estimated East Bias at time = 1976.99 : -90.88 : Estimated Depth Bias at time = 1976.99 : -1.40 : Estimated northing and easting = 4074659.01 : 590836.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=179.70 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161253.14,3648.9201,N,-12158.8303,W,1,03,00.5,048.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161254.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1979.994361 : TerrainNav update at dvl time = 1979.994361 : _navData-> (x,y) = (4074871.72, 590932.09) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161254.14,3648.9199,N,-12158.8293,W,1,03,00.5,048.5,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=179.50 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161255.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161255.14,3648.9197,N,-12158.8283,W,1,03,00.5,048.5,M,-99.9,M,,*48 : Estimated North Bias at time = 1979.99 : -214.74 : Estimated East Bias at time = 1979.99 : -91.16 : Estimated Depth Bias at time = 1979.99 : -1.40 : Estimated northing and easting = 4074656.97 : 590840.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161256.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=179.15 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161256.14,3648.9194,N,-12158.8272,W,1,03,00.5,048.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161257.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1982.994155 : TerrainNav update at dvl time = 1982.994155 : _navData-> (x,y) = (4074870.51, 590936.72) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=178.94 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161257.14,3648.9192,N,-12158.8262,W,1,03,00.5,048.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161258.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161258.14,3648.9190,N,-12158.8252,W,1,03,00.5,048.5,M,-99.9,M,,*4e : Estimated North Bias at time = 1982.99 : -215.54 : Estimated East Bias at time = 1982.99 : -91.45 : Estimated Depth Bias at time = 1982.99 : -1.40 : Estimated northing and easting = 4074654.97 : 590845.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161259.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=178.66 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161259.14,3648.9187,N,-12158.8241,W,1,03,00.5,048.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161300.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=178.39 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1985.993950 : TerrainNav update at dvl time = 1985.993950 : _navData-> (x,y) = (4074869.25, 590941.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161300.14,3648.9185,N,-12158.8231,W,1,03,00.5,048.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161301.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161301.14,3648.9183,N,-12158.8220,W,1,03,00.5,048.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=178.11 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 1985.99 : -216.29 : Estimated East Bias at time = 1985.99 : -91.82 : Estimated Depth Bias at time = 1985.99 : -1.40 : Estimated northing and easting = 4074652.96 : 590849.58 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161302.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161302.14,3648.9180,N,-12158.8210,W,1,03,00.5,048.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161303.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=177.83 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1988.993744 : TerrainNav update at dvl time = 1988.993744 : _navData-> (x,y) = (4074867.97, 590946.10) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161303.14,3648.9178,N,-12158.8199,W,1,03,00.5,048.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161304.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=177.56 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161304.14,3648.9175,N,-12158.8189,W,1,03,00.5,048.5,M,-99.9,M,,*48 : Estimated North Bias at time = 1988.99 : -217.12 : Estimated East Bias at time = 1988.99 : -92.28 : Estimated Depth Bias at time = 1988.99 : -1.40 : Estimated northing and easting = 4074650.85 : 590853.82 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161305.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161305.14,3648.9173,N,-12158.8178,W,1,03,00.5,048.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161306.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=177.28 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 1991.993539 : TerrainNav update at dvl time = 1991.993539 : _navData-> (x,y) = (4074866.66, 590950.78) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161306.13,3648.9170,N,-12158.8168,W,1,03,00.5,048.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161307.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=176.48 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161307.13,3648.9168,N,-12158.8157,W,1,03,00.5,047.9,M,-99.9,M,,*40 : Estimated North Bias at time = 1991.99 : -217.97 : Estimated East Bias at time = 1991.99 : -92.78 : Estimated Depth Bias at time = 1991.99 : -1.40 : Estimated northing and easting = 4074648.69 : 590858.00 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161308.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161308.13,3648.9166,N,-12158.8147,W,1,03,00.5,047.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=176.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161309.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1994.993334 : TerrainNav update at dvl time = 1994.993334 : _navData-> (x,y) = (4074865.34, 590955.39) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161309.13,3648.9163,N,-12158.8137,W,1,03,00.5,048.0,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161310.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=176.09 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161310.13,3648.9161,N,-12158.8126,W,1,03,00.5,047.7,M,-99.9,M,,*47 : Estimated North Bias at time = 1994.99 : -218.56 : Estimated East Bias at time = 1994.99 : -93.12 : Estimated Depth Bias at time = 1994.99 : -1.39 : Estimated northing and easting = 4074646.78 : 590862.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161311.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.97 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161311.13,3648.9158,N,-12158.8116,W,1,03,00.5,048.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161312.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 1997.993128 : TerrainNav update at dvl time = 1997.993128 : _navData-> (x,y) = (4074864.05, 590960.01) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161312.13,3648.9156,N,-12158.8106,W,1,03,00.5,048.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161313.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=175.75 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161313.13,3648.9153,N,-12158.8095,W,1,03,00.5,048.4,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161314.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 1997.99 : -219.19 : Estimated East Bias at time = 1997.99 : -93.47 : Estimated Depth Bias at time = 1997.99 : -1.38 : Estimated northing and easting = 4074644.86 : 590866.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=175.39 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161314.13,3648.9151,N,-12158.8085,W,1,03,00.5,048.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161315.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2001.002922 : TerrainNav update at dvl time = 2001.002922 : _navData-> (x,y) = (4074862.77, 590964.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161315.13,3648.9149,N,-12158.8075,W,1,03,00.5,048.1,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=174.72 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161316.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161316.13,3648.9146,N,-12158.8064,W,1,03,00.5,048.6,M,-99.9,M,,*4d : Estimated North Bias at time = 2001.00 : -220.06 : Estimated East Bias at time = 2001.00 : -93.85 : Estimated Depth Bias at time = 2001.00 : -1.37 : Estimated northing and easting = 4074642.71 : 590870.81 : AshtechGps::processRecord() - $GPGGA,161317.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=174.85 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161317.13,3648.9144,N,-12158.8054,W,1,03,00.5,048.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161318.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2004.002716 : TerrainNav update at dvl time = 2004.002716 : _navData-> (x,y) = (4074861.54, 590969.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=174.81 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161318.13,3648.9142,N,-12158.8043,W,1,03,00.5,048.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161319.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161319.13,3648.9139,N,-12158.8033,W,1,03,00.5,048.8,M,-99.9,M,,*46 : Estimated North Bias at time = 2004.00 : -221.05 : Estimated East Bias at time = 2004.00 : -94.26 : Estimated Depth Bias at time = 2004.00 : -1.36 : Estimated northing and easting = 4074640.49 : 590875.07 : AshtechGps::processRecord() - $GPGGA,161320.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=174.29 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161320.13,3648.9137,N,-12158.8023,W,1,03,00.5,048.7,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161321.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=173.91 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2007.002511 : TerrainNav update at dvl time = 2007.002511 : _navData-> (x,y) = (4074860.34, 590973.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161321.13,3648.9135,N,-12158.8012,W,1,03,00.5,048.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161322.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161322.13,3648.9133,N,-12158.8002,W,1,03,00.5,048.9,M,-99.9,M,,*47 : Estimated North Bias at time = 2007.00 : -222.03 : Estimated East Bias at time = 2007.00 : -94.64 : Estimated Depth Bias at time = 2007.00 : -1.36 : Estimated northing and easting = 4074638.31 : 590879.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=173.90 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161323.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161323.13,3648.9131,N,-12158.7991,W,1,03,00.5,048.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161324.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=173.96 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2010.002305 : TerrainNav update at dvl time = 2010.002305 : _navData-> (x,y) = (4074859.15, 590978.61) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161324.13,3648.9128,N,-12158.7981,W,1,03,00.5,049.0,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161325.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=173.33 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161325.13,3648.9126,N,-12158.7971,W,1,03,00.5,048.9,M,-99.9,M,,*46 : Estimated North Bias at time = 2010.00 : -223.09 : Estimated East Bias at time = 2010.00 : -95.09 : Estimated Depth Bias at time = 2010.00 : -1.35 : Estimated northing and easting = 4074636.06 : 590883.52 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161326.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161326.13,3648.9124,N,-12158.7960,W,1,03,00.5,048.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161327.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=172.98 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2013.002100 : TerrainNav update at dvl time = 2013.002100 : _navData-> (x,y) = (4074857.91, 590983.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161327.13,3648.9121,N,-12158.7950,W,1,03,00.5,049.2,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161328.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=173.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161328.13,3648.9119,N,-12158.7939,W,1,03,00.5,048.9,M,-99.9,M,,*4b : Estimated North Bias at time = 2013.00 : -224.19 : Estimated East Bias at time = 2013.00 : -95.58 : Estimated Depth Bias at time = 2013.00 : -1.35 : Estimated northing and easting = 4074633.72 : 590887.70 : AshtechGps::processRecord() - $GPGGA,161329.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161329.13,3648.9117,N,-12158.7929,W,1,03,00.5,048.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=172.50 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161330.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2016.001894 : TerrainNav update at dvl time = 2016.001894 : _navData-> (x,y) = (4074856.66, 590987.99) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161330.13,3648.9114,N,-12158.7918,W,1,03,00.5,048.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161331.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=172.16 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161331.13,3648.9112,N,-12158.7908,W,1,03,00.5,048.5,M,-99.9,M,,*46 : Estimated North Bias at time = 2016.00 : -225.08 : Estimated East Bias at time = 2016.00 : -95.94 : Estimated Depth Bias at time = 2016.00 : -1.34 : Estimated northing and easting = 4074631.58 : 590892.04 : AshtechGps::processRecord() - $GPGGA,161332.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=171.89 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161332.13,3648.9110,N,-12158.7897,W,1,03,00.5,048.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161333.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2019.001689 : TerrainNav update at dvl time = 2019.001689 : _navData-> (x,y) = (4074855.41, 590992.68) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161333.13,3648.9107,N,-12158.7887,W,1,03,00.5,048.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161334.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=171.60 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161334.13,3648.9105,N,-12158.7876,W,1,03,00.5,048.5,M,-99.9,M,,*4d : Estimated North Bias at time = 2019.00 : -226.16 : Estimated East Bias at time = 2019.00 : -96.35 : Estimated Depth Bias at time = 2019.00 : -1.34 : Estimated northing and easting = 4074629.25 : 590896.33 : AshtechGps::processRecord() - $GPGGA,161335.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=171.29 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161335.13,3648.9103,N,-12158.7866,W,1,03,00.5,048.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161336.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2022.001483 : TerrainNav update at dvl time = 2022.001483 : _navData-> (x,y) = (4074854.17, 590997.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161336.13,3648.9100,N,-12158.7855,W,1,03,00.5,048.4,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=170.99 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161337.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161337.13,3648.9098,N,-12158.7845,W,1,03,00.5,048.4,M,-99.9,M,,*4a : Estimated North Bias at time = 2022.00 : -227.11 : Estimated East Bias at time = 2022.00 : -96.70 : Estimated Depth Bias at time = 2022.00 : -1.34 : Estimated northing and easting = 4074627.06 : 590900.63 : AshtechGps::processRecord() - $GPGGA,161338.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.68 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161338.13,3648.9095,N,-12158.7835,W,1,03,00.5,048.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161339.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2025.001278 : TerrainNav update at dvl time = 2025.001278 : _navData-> (x,y) = (4074852.91, 591001.97) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.44 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161339.13,3648.9093,N,-12158.7824,W,1,03,00.5,048.4,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161340.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161340.13,3648.9091,N,-12158.7814,W,1,03,00.5,048.4,M,-99.9,M,,*47 : Estimated North Bias at time = 2025.00 : -228.07 : Estimated East Bias at time = 2025.00 : -97.06 : Estimated Depth Bias at time = 2025.00 : -1.33 : Estimated northing and easting = 4074624.84 : 590904.91 : AshtechGps::processRecord() - $GPGGA,161341.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=170.12 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161341.13,3648.9088,N,-12158.7803,W,1,03,00.5,048.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161342.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.66 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2028.001072 : TerrainNav update at dvl time = 2028.001072 : _navData-> (x,y) = (4074851.64, 591006.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161342.13,3648.9086,N,-12158.7793,W,1,03,00.5,049.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161343.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161343.13,3648.9084,N,-12158.7782,W,1,03,00.5,048.7,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=169.80 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 2028.00 : -229.49 : Estimated East Bias at time = 2028.00 : -97.70 : Estimated Depth Bias at time = 2028.00 : -1.33 : Estimated northing and easting = 4074622.15 : 590908.95 : AshtechGps::processRecord() - $GPGGA,161344.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161344.13,3648.9081,N,-12158.7772,W,1,03,00.5,049.1,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161345.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.24 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2031.000867 : TerrainNav update at dvl time = 2031.000867 : _navData-> (x,y) = (4074850.38, 591011.35) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161345.13,3648.9079,N,-12158.7761,W,1,03,00.5,049.6,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161346.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=169.44 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161346.13,3648.9077,N,-12158.7751,W,1,03,00.5,048.9,M,-99.9,M,,*4a : Estimated North Bias at time = 2031.00 : -230.96 : Estimated East Bias at time = 2031.00 : -98.37 : Estimated Depth Bias at time = 2031.00 : -1.33 : Estimated northing and easting = 4074619.42 : 590912.98 : AshtechGps::processRecord() - $GPGGA,161347.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161347.13,3648.9074,N,-12158.7740,W,1,03,00.5,049.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161348.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=170.02 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2034.000661 : TerrainNav update at dvl time = 2034.000661 : _navData-> (x,y) = (4074849.13, 591016.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161348.13,3648.9072,N,-12158.7730,W,1,03,00.5,049.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161349.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=169.53 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161349.13,3648.9070,N,-12158.7720,W,1,03,00.5,049.4,M,-99.9,M,,*48 : Estimated North Bias at time = 2034.00 : -232.27 : Estimated East Bias at time = 2034.00 : -98.89 : Estimated Depth Bias at time = 2034.00 : -1.33 : Estimated northing and easting = 4074616.87 : 590917.15 : AshtechGps::processRecord() - $GPGGA,161350.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161350.13,3648.9067,N,-12158.7709,W,1,03,00.5,049.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=169.87 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161351.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2037.000456 : TerrainNav update at dvl time = 2037.000456 : _navData-> (x,y) = (4074847.88, 591020.71) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161351.13,3648.9065,N,-12158.7699,W,1,03,00.5,049.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161352.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=169.56 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161352.13,3648.9062,N,-12158.7688,W,1,03,00.5,049.8,M,-99.9,M,,*4e : Estimated North Bias at time = 2037.00 : -233.26 : Estimated East Bias at time = 2037.00 : -99.23 : Estimated Depth Bias at time = 2037.00 : -1.33 : Estimated northing and easting = 4074614.62 : 590921.48 : AshtechGps::processRecord() - $GPGGA,161353.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=169.38 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161353.13,3648.9060,N,-12158.7678,W,1,03,00.5,049.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161354.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2040.000250 : TerrainNav update at dvl time = 2040.000250 : _navData-> (x,y) = (4074846.57, 591025.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161354.13,3648.9057,N,-12158.7667,W,1,03,00.5,049.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161355.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=168.74 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161355.13,3648.9055,N,-12158.7657,W,1,03,00.5,049.5,M,-99.9,M,,*42 : Estimated North Bias at time = 2040.00 : -234.15 : Estimated East Bias at time = 2040.00 : -99.55 : Estimated Depth Bias at time = 2040.00 : -1.32 : Estimated northing and easting = 4074612.42 : 590925.82 : AshtechGps::processRecord() - $GPGGA,161356.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=168.22 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161356.13,3648.9052,N,-12158.7646,W,1,03,00.5,048.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161357.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2043.000045 : TerrainNav update at dvl time = 2043.000045 : _navData-> (x,y) = (4074845.22, 591030.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161357.13,3648.9050,N,-12158.7636,W,1,03,00.5,049.5,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=168.90 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161358.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161358.13,3648.9047,N,-12158.7625,W,1,03,00.5,049.3,M,-99.9,M,,*4f : Estimated North Bias at time = 2043.00 : -235.45 : Estimated East Bias at time = 2043.00 : -100.13 : Estimated Depth Bias at time = 2043.00 : -1.32 : Estimated northing and easting = 4074609.78 : 590929.93 : AshtechGps::processRecord() - $GPGGA,161359.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=168.71 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161359.13,3648.9045,N,-12158.7615,W,1,03,00.5,048.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161400.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2045.999839 : TerrainNav update at dvl time = 2045.999839 : _navData-> (x,y) = (4074843.89, 591034.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=168.26 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161400.13,3648.9042,N,-12158.7604,W,1,03,00.5,049.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161401.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161401.13,3648.9040,N,-12158.7594,W,1,03,00.5,048.9,M,-99.9,M,,*41 : Estimated North Bias at time = 2046.00 : -236.69 : Estimated East Bias at time = 2046.00 : -100.66 : Estimated Depth Bias at time = 2046.00 : -1.32 : Estimated northing and easting = 4074607.20 : 590934.11 : AshtechGps::processRecord() - $GPGGA,161402.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=167.79 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161402.13,3648.9038,N,-12158.7583,W,1,03,00.5,048.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161403.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=167.40 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2048.999634 : TerrainNav update at dvl time = 2048.999634 : _navData-> (x,y) = (4074842.58, 591039.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161403.13,3648.9035,N,-12158.7573,W,1,03,00.5,048.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161404.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161404.13,3648.9033,N,-12158.7562,W,1,03,00.5,048.6,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=166.51 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 2049.00 : -238.00 : Estimated East Bias at time = 2049.00 : -101.18 : Estimated Depth Bias at time = 2049.00 : -1.32 : Estimated northing and easting = 4074604.58 : 590938.28 : AshtechGps::processRecord() - $GPGGA,161405.00,,,,,0,00,,,M,,M,,*4F : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161405.13,3648.9030,N,-12158.7552,W,1,03,00.5,048.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161406.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=166.47 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2051.999428 : TerrainNav update at dvl time = 2051.999428 : _navData-> (x,y) = (4074841.23, 591044.11) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161406.13,3648.9028,N,-12158.7542,W,1,03,00.5,048.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161407.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.98 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161407.13,3648.9025,N,-12158.7531,W,1,03,00.5,047.9,M,-99.9,M,,*44 : Estimated North Bias at time = 2052.00 : -239.12 : Estimated East Bias at time = 2052.00 : -101.63 : Estimated Depth Bias at time = 2052.00 : -1.32 : Estimated northing and easting = 4074602.12 : 590942.47 : AshtechGps::processRecord() - $GPGGA,161408.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161408.13,3648.9023,N,-12158.7521,W,1,03,00.5,048.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161409.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=165.45 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2054.999223 : TerrainNav update at dvl time = 2054.999223 : _navData-> (x,y) = (4074839.93, 591048.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161409.13,3648.9020,N,-12158.7511,W,1,03,00.5,047.9,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161410.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=164.45 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161410.13,3648.9018,N,-12158.7500,W,1,03,00.5,047.0,M,-99.9,M,,*47 : Estimated North Bias at time = 2055.00 : -240.17 : Estimated East Bias at time = 2055.00 : -102.02 : Estimated Depth Bias at time = 2055.00 : -1.32 : Estimated northing and easting = 4074599.75 : 590946.72 : AshtechGps::processRecord() - $GPGGA,161411.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161411.13,3648.9015,N,-12158.7490,W,1,03,00.5,046.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=164.07 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161412.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2057.999017 : TerrainNav update at dvl time = 2057.999017 : _navData-> (x,y) = (4074838.62, 591053.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161412.13,3648.9013,N,-12158.7479,W,1,03,00.5,047.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161413.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=163.69 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161413.13,3648.9011,N,-12158.7469,W,1,03,00.5,046.3,M,-99.9,M,,*41 : Estimated North Bias at time = 2058.00 : -241.40 : Estimated East Bias at time = 2058.00 : -102.53 : Estimated Depth Bias at time = 2058.00 : -1.32 : Estimated northing and easting = 4074597.22 : 590950.91 : AshtechGps::processRecord() - $GPGGA,161414.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=163.71 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161414.13,3648.9008,N,-12158.7458,W,1,03,00.5,047.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161415.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2060.998812 : TerrainNav update at dvl time = 2060.998812 : _navData-> (x,y) = (4074837.36, 591058.15) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161415.13,3648.9006,N,-12158.7448,W,1,03,00.5,047.5,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161416.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=163.52 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161416.13,3648.9004,N,-12158.7437,W,1,03,00.5,046.7,M,-99.9,M,,*4f : Estimated North Bias at time = 2061.00 : -242.52 : Estimated East Bias at time = 2061.00 : -102.94 : Estimated Depth Bias at time = 2061.00 : -1.32 : Estimated northing and easting = 4074594.84 : 590955.21 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161417.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=162.40 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161417.13,3648.9001,N,-12158.7427,W,1,03,00.5,046.8,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161418.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2063.998606 : TerrainNav update at dvl time = 2063.998606 : _navData-> (x,y) = (4074836.15, 591062.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161418.13,3648.8999,N,-12158.7416,W,1,03,00.5,047.5,M,-99.9,M,,*4d : LayeredControl _resolvedCommand - vertMode=2 vert=162.00 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161419.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161419.13,3648.8997,N,-12158.7406,W,1,03,00.5,047.5,M,-99.9,M,,*43 : Estimated North Bias at time = 2064.00 : -243.60 : Estimated East Bias at time = 2064.00 : -103.28 : Estimated Depth Bias at time = 2064.00 : -1.32 : Estimated northing and easting = 4074592.56 : 590959.55 : AshtechGps::processRecord() - $GPGGA,161420.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=161.60 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161420.13,3648.8995,N,-12158.7395,W,1,03,00.5,046.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161421.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2066.998401 : TerrainNav update at dvl time = 2066.998401 : _navData-> (x,y) = (4074834.97, 591067.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=161.61 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161421.13,3648.8992,N,-12158.7385,W,1,03,00.5,047.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161422.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161422.13,3648.8990,N,-12158.7375,W,1,03,00.5,047.5,M,-99.9,M,,*4f : Estimated North Bias at time = 2067.00 : -244.36 : Estimated East Bias at time = 2067.00 : -103.47 : Estimated Depth Bias at time = 2067.00 : -1.32 : Estimated northing and easting = 4074590.60 : 590964.02 : AshtechGps::processRecord() - $GPGGA,161423.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=161.61 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161423.13,3648.8988,N,-12158.7364,W,1,03,00.5,047.8,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161424.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=160.97 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2069.998195 : TerrainNav update at dvl time = 2069.998195 : _navData-> (x,y) = (4074833.78, 591072.14) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161424.13,3648.8986,N,-12158.7354,W,1,03,00.5,047.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161425.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161425.13,3648.8983,N,-12158.7343,W,1,03,00.5,047.3,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=160.43 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 2070.00 : -244.84 : Estimated East Bias at time = 2070.00 : -103.54 : Estimated Depth Bias at time = 2070.00 : -1.32 : Estimated northing and easting = 4074588.95 : 590968.60 : AshtechGps::processRecord() - $GPGGA,161426.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161426.13,3648.8981,N,-12158.7333,W,1,03,00.5,047.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161427.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=160.44 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2072.997990 : TerrainNav update at dvl time = 2072.997990 : _navData-> (x,y) = (4074832.60, 591076.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161427.13,3648.8979,N,-12158.7322,W,1,03,00.5,047.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161428.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.89 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161428.13,3648.8977,N,-12158.7312,W,1,03,00.5,047.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161429.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2073.00 : -245.07 : Estimated East Bias at time = 2073.00 : -103.51 : Estimated Depth Bias at time = 2073.00 : -1.32 : Estimated northing and easting = 4074587.53 : 590973.33 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161429.13,3648.8975,N,-12158.7301,W,1,03,00.5,047.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161430.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.45 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2075.997784 : TerrainNav update at dvl time = 2075.997784 : _navData-> (x,y) = (4074831.43, 591081.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161430.13,3648.8972,N,-12158.7290,W,1,03,00.5,047.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161431.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=159.12 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161431.13,3648.8970,N,-12158.7280,W,1,03,00.5,047.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161432.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2076.00 : -245.54 : Estimated East Bias at time = 2076.00 : -103.45 : Estimated Depth Bias at time = 2076.00 : -1.32 : Estimated northing and easting = 4074585.89 : 590978.13 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161432.13,3648.8968,N,-12158.7269,W,1,03,00.5,047.3,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=158.58 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161433.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2078.997579 : TerrainNav update at dvl time = 2078.997579 : _navData-> (x,y) = (4074830.23, 591086.28) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161433.13,3648.8966,N,-12158.7259,W,1,03,00.5,047.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161434.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=158.24 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161434.13,3648.8963,N,-12158.7248,W,1,03,00.5,047.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161435.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2079.00 : -245.90 : Estimated East Bias at time = 2079.00 : -103.38 : Estimated Depth Bias at time = 2079.00 : -1.32 : Estimated northing and easting = 4074584.33 : 590982.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=157.43 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161435.13,3648.8961,N,-12158.7238,W,1,03,00.5,047.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161436.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2081.997373 : TerrainNav update at dvl time = 2081.997373 : _navData-> (x,y) = (4074828.98, 591090.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161436.13,3648.8959,N,-12158.7228,W,1,03,00.5,047.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161437.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=157.08 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161437.13,3648.8956,N,-12158.7218,W,1,03,00.5,046.9,M,-99.9,M,,*46 : Estimated North Bias at time = 2082.00 : -246.05 : Estimated East Bias at time = 2082.00 : -103.19 : Estimated Depth Bias at time = 2082.00 : -1.32 : Estimated northing and easting = 4074582.94 : 590987.72 : AshtechGps::processRecord() - $GPGGA,161438.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=156.38 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161438.13,3648.8954,N,-12158.7207,W,1,03,00.5,046.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161439.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2084.997168 : TerrainNav update at dvl time = 2084.997168 : _navData-> (x,y) = (4074827.70, 591095.50) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161439.13,3648.8951,N,-12158.7197,W,1,03,00.5,046.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=155.73 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161440.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161440.13,3648.8949,N,-12158.7187,W,1,03,00.5,046.4,M,-99.9,M,,*40 : Estimated North Bias at time = 2085.00 : -246.32 : Estimated East Bias at time = 2085.00 : -102.96 : Estimated Depth Bias at time = 2085.00 : -1.32 : Estimated northing and easting = 4074581.38 : 590992.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161441.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=155.19 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161441.13,3648.8947,N,-12158.7176,W,1,03,00.5,045.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161442.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2087.996962 : TerrainNav update at dvl time = 2087.996962 : _navData-> (x,y) = (4074826.40, 591100.12) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=154.27 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161442.13,3648.8944,N,-12158.7166,W,1,03,00.5,045.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161443.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161443.13,3648.8942,N,-12158.7156,W,1,03,00.5,046.2,M,-99.9,M,,*42 : Estimated North Bias at time = 2088.00 : -247.37 : Estimated East Bias at time = 2088.00 : -102.92 : Estimated Depth Bias at time = 2088.00 : -1.32 : Estimated northing and easting = 4074579.03 : 590997.20 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161444.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=154.44 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161444.13,3648.8939,N,-12158.7145,W,1,03,00.5,046.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161445.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=153.01 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2090.996757 : TerrainNav update at dvl time = 2090.996757 : _navData-> (x,y) = (4074825.14, 591104.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161445.13,3648.8937,N,-12158.7135,W,1,03,00.5,045.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161446.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161446.13,3648.8935,N,-12158.7125,W,1,03,00.5,046.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=153.28 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161447.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2091.00 : -248.26 : Estimated East Bias at time = 2091.00 : -102.90 : Estimated Depth Bias at time = 2091.00 : -1.32 : Estimated northing and easting = 4074576.88 : 591001.86 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161447.13,3648.8932,N,-12158.7115,W,1,03,00.5,045.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161448.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.97 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2093.996551 : TerrainNav update at dvl time = 2093.996551 : _navData-> (x,y) = (4074823.92, 591109.34) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161448.13,3648.8930,N,-12158.7104,W,1,03,00.5,045.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161449.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=152.01 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161449.13,3648.8928,N,-12158.7094,W,1,03,00.5,046.1,M,-99.9,M,,*48 : Estimated North Bias at time = 2094.00 : -248.96 : Estimated East Bias at time = 2094.00 : -102.90 : Estimated Depth Bias at time = 2094.00 : -1.32 : Estimated northing and easting = 4074574.95 : 591006.43 : AshtechGps::processRecord() - $GPGGA,161450.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161450.13,3648.8925,N,-12158.7084,W,1,03,00.5,046.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161451.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.15 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2096.996346 : TerrainNav update at dvl time = 2096.996346 : _navData-> (x,y) = (4074822.67, 591113.88) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161451.13,3648.8923,N,-12158.7074,W,1,03,00.5,045.5,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161452.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=151.05 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161452.13,3648.8921,N,-12158.7064,W,1,03,00.5,046.8,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161453.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2097.00 : -248.76 : Estimated East Bias at time = 2097.00 : -102.52 : Estimated Depth Bias at time = 2097.00 : -1.32 : Estimated northing and easting = 4074573.91 : 591011.36 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161453.13,3648.8919,N,-12158.7054,W,1,03,00.5,046.5,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=2 vert=150.39 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161454.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2099.996140 : TerrainNav update at dvl time = 2099.996140 : _navData-> (x,y) = (4074821.44, 591118.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161454.13,3648.8916,N,-12158.7044,W,1,03,00.5,046.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161455.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=149.89 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161455.13,3648.8914,N,-12158.7034,W,1,03,00.5,046.9,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161456.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=149.77 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161456.13,3648.8912,N,-12158.7024,W,1,03,00.5,047.1,M,-99.9,M,,*45 : Estimated North Bias at time = 2100.00 : -250.07 : Estimated East Bias at time = 2100.00 : -102.83 : Estimated Depth Bias at time = 2100.00 : -1.32 : Estimated northing and easting = 4074571.37 : 591015.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161457.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2102.995935 : TerrainNav update at dvl time = 2102.995935 : _navData-> (x,y) = (4074820.22, 591122.89) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161457.13,3648.8909,N,-12158.7013,W,1,03,00.5,047.3,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161458.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=149.66 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161458.13,3648.8907,N,-12158.7003,W,1,03,00.5,047.1,M,-99.9,M,,*4a : Estimated North Bias at time = 2103.00 : -250.72 : Estimated East Bias at time = 2103.00 : -102.99 : Estimated Depth Bias at time = 2103.00 : -1.32 : Estimated northing and easting = 4074569.49 : 591019.89 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161459.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=149.07 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161459.13,3648.8905,N,-12158.6993,W,1,03,00.5,047.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161500.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2105.995729 : TerrainNav update at dvl time = 2105.995729 : _navData-> (x,y) = (4074819.00, 591127.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161500.13,3648.8903,N,-12158.6983,W,1,03,00.5,047.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=148.91 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161501.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161501.13,3648.8900,N,-12158.6973,W,1,03,00.5,047.8,M,-99.9,M,,*46 : Estimated North Bias at time = 2106.00 : -251.40 : Estimated East Bias at time = 2106.00 : -103.25 : Estimated Depth Bias at time = 2106.00 : -1.32 : Estimated northing and easting = 4074567.61 : 591024.20 : AshtechGps::processRecord() - $GPGGA,161502.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=148.70 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161502.13,3648.8898,N,-12158.6963,W,1,03,00.5,046.6,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161503.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2108.995524 : TerrainNav update at dvl time = 2108.995524 : _navData-> (x,y) = (4074817.75, 591131.98) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=147.94 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161503.13,3648.8895,N,-12158.6952,W,1,03,00.5,047.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161504.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161504.13,3648.8893,N,-12158.6942,W,1,03,00.5,048.3,M,-99.9,M,,*4e : Estimated North Bias at time = 2109.00 : -251.42 : Estimated East Bias at time = 2109.00 : -103.06 : Estimated Depth Bias at time = 2109.00 : -1.32 : Estimated northing and easting = 4074566.33 : 591028.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161505.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.22 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161505.13,3648.8891,N,-12158.6932,W,1,03,00.5,047.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161506.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=148.18 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2111.995318 : TerrainNav update at dvl time = 2111.995318 : _navData-> (x,y) = (4074816.48, 591136.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161506.13,3648.8888,N,-12158.6922,W,1,03,00.5,048.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161507.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161507.13,3648.8886,N,-12158.6912,W,1,03,00.5,048.5,M,-99.9,M,,*4a : Estimated North Bias at time = 2112.00 : -251.97 : Estimated East Bias at time = 2112.00 : -103.18 : Estimated Depth Bias at time = 2112.00 : -1.32 : Estimated northing and easting = 4074564.52 : 591033.29 : LayeredControl _resolvedCommand - vertMode=2 vert=147.70 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161508.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161508.13,3648.8884,N,-12158.6902,W,1,03,00.5,048.5,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161509.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=147.27 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2114.995113 : TerrainNav update at dvl time = 2114.995113 : _navData-> (x,y) = (4074815.21, 591140.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161509.13,3648.8881,N,-12158.6892,W,1,03,00.5,048.4,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161510.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=145.57 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161510.13,3648.8879,N,-12158.6882,W,1,03,00.5,047.2,M,-99.9,M,,*4c : Estimated North Bias at time = 2115.00 : -252.43 : Estimated East Bias at time = 2115.00 : -103.31 : Estimated Depth Bias at time = 2115.00 : -1.32 : Estimated northing and easting = 4074562.78 : 591037.64 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161511.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161511.13,3648.8876,N,-12158.6872,W,1,03,00.5,048.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161512.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=145.95 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2117.994907 : TerrainNav update at dvl time = 2117.994907 : _navData-> (x,y) = (4074813.92, 591145.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161512.13,3648.8874,N,-12158.6862,W,1,03,00.5,047.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161513.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.76 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161513.13,3648.8872,N,-12158.6852,W,1,03,00.5,046.9,M,-99.9,M,,*43 : Estimated North Bias at time = 2117.99 : -252.76 : Estimated East Bias at time = 2117.99 : -103.23 : Estimated Depth Bias at time = 2117.99 : -1.32 : Estimated northing and easting = 4074561.16 : 591042.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161514.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161514.14,3648.8869,N,-12158.6842,W,1,03,00.5,047.0,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=144.68 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161515.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2120.994702 : TerrainNav update at dvl time = 2120.994702 : _navData-> (x,y) = (4074812.64, 591149.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161515.14,3648.8867,N,-12158.6832,W,1,03,00.5,046.9,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161516.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=144.62 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161516.14,3648.8864,N,-12158.6822,W,1,03,00.5,046.1,M,-99.9,M,,*49 : Estimated North Bias at time = 2120.99 : -253.68 : Estimated East Bias at time = 2120.99 : -103.33 : Estimated Depth Bias at time = 2120.99 : -1.32 : Estimated northing and easting = 4074558.95 : 591046.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161517.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=143.28 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161517.14,3648.8862,N,-12158.6812,W,1,03,00.5,046.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161518.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2123.994496 : TerrainNav update at dvl time = 2123.994496 : _navData-> (x,y) = (4074811.35, 591154.47) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161518.14,3648.8860,N,-12158.6802,W,1,03,00.5,046.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161519.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=143.48 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161519.14,3648.8857,N,-12158.6792,W,1,03,00.5,045.7,M,-99.9,M,,*47 : Estimated North Bias at time = 2123.99 : -255.07 : Estimated East Bias at time = 2123.99 : -103.80 : Estimated Depth Bias at time = 2123.99 : -1.32 : Estimated northing and easting = 4074556.28 : 591050.66 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161520.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=142.55 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161520.14,3648.8855,N,-12158.6782,W,1,03,00.5,044.8,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161521.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2126.994291 : TerrainNav update at dvl time = 2126.994291 : _navData-> (x,y) = (4074810.09, 591158.93) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161521.14,3648.8853,N,-12158.6772,W,1,03,00.5,045.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=141.50 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161522.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161522.14,3648.8850,N,-12158.6762,W,1,03,00.5,045.6,M,-99.9,M,,*46 : Estimated North Bias at time = 2126.99 : -255.48 : Estimated East Bias at time = 2126.99 : -103.88 : Estimated Depth Bias at time = 2126.99 : -1.32 : Estimated northing and easting = 4074554.61 : 591055.04 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161523.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=140.57 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161523.14,3648.8848,N,-12158.6752,W,1,03,00.5,045.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161524.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2129.994085 : TerrainNav update at dvl time = 2129.994085 : _navData-> (x,y) = (4074808.85, 591163.35) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=139.80 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161524.14,3648.8846,N,-12158.6742,W,1,03,00.5,044.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161525.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161525.14,3648.8843,N,-12158.6732,W,1,03,00.5,044.6,M,-99.9,M,,*47 : Estimated North Bias at time = 2129.99 : -255.84 : Estimated East Bias at time = 2129.99 : -103.92 : Estimated Depth Bias at time = 2129.99 : -1.32 : Estimated northing and easting = 4074553.01 : 591059.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161526.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=140.08 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161526.14,3648.8841,N,-12158.6723,W,1,03,00.5,045.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161527.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=139.29 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2132.993880 : TerrainNav update at dvl time = 2132.993880 : _navData-> (x,y) = (4074807.64, 591167.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161527.14,3648.8839,N,-12158.6713,W,1,03,00.5,045.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161528.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161528.14,3648.8837,N,-12158.6703,W,1,03,00.5,045.3,M,-99.9,M,,*4f : LayeredControl _resolvedCommand - vertMode=2 vert=138.57 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 2132.99 : -256.74 : Estimated East Bias at time = 2132.99 : -104.21 : Estimated Depth Bias at time = 2132.99 : -1.32 : Estimated northing and easting = 4074550.89 : 591063.53 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161529.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161529.14,3648.8834,N,-12158.6693,W,1,03,00.5,045.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161530.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.87 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2135.993674 : TerrainNav update at dvl time = 2135.993674 : _navData-> (x,y) = (4074806.46, 591172.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161530.14,3648.8832,N,-12158.6683,W,1,03,00.5,045.5,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161531.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.50 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161531.14,3648.8830,N,-12158.6673,W,1,03,00.5,045.4,M,-99.9,M,,*41 : Estimated North Bias at time = 2135.99 : -257.82 : Estimated East Bias at time = 2135.99 : -104.66 : Estimated Depth Bias at time = 2135.99 : -1.32 : Estimated northing and easting = 4074548.63 : 591067.47 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161532.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161532.13,3648.8828,N,-12158.6664,W,1,03,00.5,045.3,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161533.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.56 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2138.993469 : TerrainNav update at dvl time = 2138.993469 : _navData-> (x,y) = (4074805.27, 591176.53) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161533.13,3648.8825,N,-12158.6654,W,1,03,00.5,046.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161534.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=137.01 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161534.13,3648.8823,N,-12158.6644,W,1,03,00.5,046.2,M,-99.9,M,,*40 : Estimated North Bias at time = 2138.99 : -258.75 : Estimated East Bias at time = 2138.99 : -105.08 : Estimated Depth Bias at time = 2138.99 : -1.32 : Estimated northing and easting = 4074546.52 : 591071.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161535.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161535.13,3648.8821,N,-12158.6634,W,1,03,00.5,046.0,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=136.51 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161536.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2141.993263 : TerrainNav update at dvl time = 2141.993263 : _navData-> (x,y) = (4074804.07, 591180.96) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161536.13,3648.8819,N,-12158.6624,W,1,03,00.5,046.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161537.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=136.11 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161537.13,3648.8816,N,-12158.6614,W,1,03,00.5,046.6,M,-99.9,M,,*44 : Estimated North Bias at time = 2141.99 : -259.27 : Estimated East Bias at time = 2141.99 : -105.25 : Estimated Depth Bias at time = 2141.99 : -1.32 : Estimated northing and easting = 4074544.79 : 591075.71 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161538.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=135.78 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161538.13,3648.8814,N,-12158.6604,W,1,03,00.5,047.1,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161539.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2145.003057 : TerrainNav update at dvl time = 2145.003057 : _navData-> (x,y) = (4074802.80, 591185.42) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161539.13,3648.8812,N,-12158.6594,W,1,03,00.5,047.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161540.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=136.10 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161540.13,3648.8809,N,-12158.6584,W,1,03,00.5,046.9,M,-99.9,M,,*4f : Estimated North Bias at time = 2145.00 : -259.88 : Estimated East Bias at time = 2145.00 : -105.50 : Estimated Depth Bias at time = 2145.00 : -1.32 : Estimated northing and easting = 4074542.92 : 591079.92 : AshtechGps::processRecord() - $GPGGA,161541.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=135.18 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161541.13,3648.8807,N,-12158.6574,W,1,03,00.5,047.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161542.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2148.002852 : TerrainNav update at dvl time = 2148.002852 : _navData-> (x,y) = (4074801.54, 591189.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161542.13,3648.8804,N,-12158.6565,W,1,03,00.5,048.2,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=135.23 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161543.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161543.13,3648.8802,N,-12158.6555,W,1,03,00.5,048.2,M,-99.9,M,,*4e : Estimated North Bias at time = 2148.00 : -260.72 : Estimated East Bias at time = 2148.00 : -105.85 : Estimated Depth Bias at time = 2148.00 : -1.31 : Estimated northing and easting = 4074540.82 : 591083.99 : AshtechGps::processRecord() - $GPGGA,161544.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=134.81 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161544.13,3648.8800,N,-12158.6545,W,1,03,00.5,047.8,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161545.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2151.002646 : TerrainNav update at dvl time = 2151.002646 : _navData-> (x,y) = (4074800.25, 591194.31) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=134.73 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161545.13,3648.8797,N,-12158.6535,W,1,03,00.5,048.5,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161546.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161546.13,3648.8795,N,-12158.6524,W,1,03,00.5,048.1,M,-99.9,M,,*4f : Estimated North Bias at time = 2151.00 : -261.46 : Estimated East Bias at time = 2151.00 : -106.13 : Estimated Depth Bias at time = 2151.00 : -1.31 : Estimated northing and easting = 4074538.79 : 591088.18 : AshtechGps::processRecord() - $GPGGA,161547.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=135.03 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161547.13,3648.8792,N,-12158.6514,W,1,03,00.5,049.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161548.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=133.63 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2154.002441 : TerrainNav update at dvl time = 2154.002441 : _navData-> (x,y) = (4074798.95, 591198.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161548.13,3648.8790,N,-12158.6504,W,1,03,00.5,048.1,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161549.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161549.13,3648.8788,N,-12158.6494,W,1,03,00.5,047.8,M,-99.9,M,,*40 : Estimated North Bias at time = 2154.00 : -261.85 : Estimated East Bias at time = 2154.00 : -106.11 : Estimated Depth Bias at time = 2154.00 : -1.31 : Estimated northing and easting = 4074537.10 : 591092.74 : LayeredControl _resolvedCommand - vertMode=2 vert=134.74 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161550.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161550.13,3648.8785,N,-12158.6484,W,1,03,00.5,048.2,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161551.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=133.86 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2157.002235 : TerrainNav update at dvl time = 2157.002235 : _navData-> (x,y) = (4074797.68, 591203.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161551.13,3648.8783,N,-12158.6473,W,1,03,00.5,048.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161552.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=133.44 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161552.13,3648.8780,N,-12158.6463,W,1,03,00.5,048.7,M,-99.9,M,,*4a : Estimated North Bias at time = 2157.00 : -263.02 : Estimated East Bias at time = 2157.00 : -106.43 : Estimated Depth Bias at time = 2157.00 : -1.31 : Estimated northing and easting = 4074534.66 : 591097.01 : AshtechGps::processRecord() - $GPGGA,161553.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161553.13,3648.8778,N,-12158.6453,W,1,03,00.5,048.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161554.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=133.09 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2160.002030 : TerrainNav update at dvl time = 2160.002030 : _navData-> (x,y) = (4074796.43, 591208.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161554.13,3648.8776,N,-12158.6443,W,1,03,00.5,048.1,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161555.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=132.06 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161555.13,3648.8773,N,-12158.6433,W,1,03,00.5,047.8,M,-99.9,M,,*44 : Estimated North Bias at time = 2160.00 : -264.16 : Estimated East Bias at time = 2160.00 : -106.85 : Estimated Depth Bias at time = 2160.00 : -1.31 : Estimated northing and easting = 4074532.27 : 591101.15 : AshtechGps::processRecord() - $GPGGA,161556.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161556.13,3648.8771,N,-12158.6423,W,1,03,00.5,047.4,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=131.37 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161557.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2163.001824 : TerrainNav update at dvl time = 2163.001824 : _navData-> (x,y) = (4074795.18, 591212.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161557.13,3648.8769,N,-12158.6412,W,1,03,00.5,047.3,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161558.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=130.87 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161558.13,3648.8766,N,-12158.6402,W,1,03,00.5,047.0,M,-99.9,M,,*47 : Estimated North Bias at time = 2163.00 : -265.20 : Estimated East Bias at time = 2163.00 : -107.19 : Estimated Depth Bias at time = 2163.00 : -1.31 : Estimated northing and easting = 4074529.98 : 591105.33 : AshtechGps::processRecord() - $GPGGA,161559.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=130.41 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161559.13,3648.8764,N,-12158.6392,W,1,03,00.5,047.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161600.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2166.001619 : TerrainNav update at dvl time = 2166.001619 : _navData-> (x,y) = (4074793.92, 591217.03) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161600.13,3648.8762,N,-12158.6382,W,1,03,00.5,046.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161601.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=128.51 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161601.13,3648.8759,N,-12158.6372,W,1,03,00.5,045.4,M,-99.9,M,,*42 : Estimated North Bias at time = 2166.00 : -266.43 : Estimated East Bias at time = 2166.00 : -107.58 : Estimated Depth Bias at time = 2166.00 : -1.31 : Estimated northing and easting = 4074527.49 : 591109.45 : AshtechGps::processRecord() - $GPGGA,161602.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=128.05 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161602.13,3648.8757,N,-12158.6362,W,1,03,00.5,045.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161603.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2169.001413 : TerrainNav update at dvl time = 2169.001413 : _navData-> (x,y) = (4074792.61, 591221.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161603.13,3648.8754,N,-12158.6352,W,1,03,00.5,045.0,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=127.36 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161604.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161604.13,3648.8752,N,-12158.6342,W,1,03,00.5,044.7,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161605.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2169.00 : -267.92 : Estimated East Bias at time = 2169.00 : -107.95 : Estimated Depth Bias at time = 2169.00 : -1.31 : Estimated northing and easting = 4074524.69 : 591113.59 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=126.42 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161605.13,3648.8750,N,-12158.6332,W,1,03,00.5,044.4,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161606.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2172.001208 : TerrainNav update at dvl time = 2172.001208 : _navData-> (x,y) = (4074791.37, 591226.05) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=125.68 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161606.13,3648.8747,N,-12158.6322,W,1,03,00.5,044.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161607.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161607.13,3648.8745,N,-12158.6312,W,1,03,00.5,043.6,M,-99.9,M,,*4b : Estimated North Bias at time = 2172.00 : -269.13 : Estimated East Bias at time = 2172.00 : -108.48 : Estimated Depth Bias at time = 2172.00 : -1.31 : Estimated northing and easting = 4074522.23 : 591117.57 : AshtechGps::processRecord() - $GPGGA,161608.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=124.45 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161608.13,3648.8743,N,-12158.6302,W,1,03,00.5,043.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161609.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=123.96 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2175.001002 : TerrainNav update at dvl time = 2175.001002 : _navData-> (x,y) = (4074790.20, 591230.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161609.13,3648.8741,N,-12158.6292,W,1,03,00.5,043.7,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161610.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161610.13,3648.8739,N,-12158.6281,W,1,03,00.5,043.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=122.98 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : Estimated North Bias at time = 2175.00 : -270.84 : Estimated East Bias at time = 2175.00 : -109.14 : Estimated Depth Bias at time = 2175.00 : -1.31 : Estimated northing and easting = 4074519.35 : 591121.40 : AshtechGps::processRecord() - $GPGGA,161611.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161611.13,3648.8737,N,-12158.6271,W,1,03,00.5,043.4,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161612.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=122.48 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2178.000797 : TerrainNav update at dvl time = 2178.000797 : _navData-> (x,y) = (4074789.10, 591235.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161612.13,3648.8735,N,-12158.6261,W,1,03,00.5,043.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161613.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=121.55 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161613.13,3648.8733,N,-12158.6251,W,1,03,00.5,043.2,M,-99.9,M,,*4d : Estimated North Bias at time = 2178.00 : -272.48 : Estimated East Bias at time = 2178.00 : -109.79 : Estimated Depth Bias at time = 2178.00 : -1.31 : Estimated northing and easting = 4074516.62 : 591125.25 : AshtechGps::processRecord() - $GPGGA,161614.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161614.13,3648.8730,N,-12158.6241,W,1,03,00.5,043.3,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161615.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=121.10 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2181.000591 : TerrainNav update at dvl time = 2181.000591 : _navData-> (x,y) = (4074787.96, 591239.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161615.13,3648.8728,N,-12158.6231,W,1,03,00.5,043.1,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161616.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=120.33 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161616.13,3648.8726,N,-12158.6221,W,1,03,00.5,043.2,M,-99.9,M,,*4b : Estimated North Bias at time = 2181.00 : -273.46 : Estimated East Bias at time = 2181.00 : -110.09 : Estimated Depth Bias at time = 2181.00 : -1.31 : Estimated northing and easting = 4074514.50 : 591129.42 : AshtechGps::processRecord() - $GPGGA,161617.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161617.13,3648.8724,N,-12158.6211,W,1,03,00.5,043.1,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=119.53 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161618.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2184.000386 : TerrainNav update at dvl time = 2184.000386 : _navData-> (x,y) = (4074786.80, 591243.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161618.13,3648.8722,N,-12158.6201,W,1,03,00.5,043.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161619.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=118.73 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161619.13,3648.8719,N,-12158.6191,W,1,03,00.5,043.1,M,-99.9,M,,*43 : Estimated North Bias at time = 2184.00 : -274.90 : Estimated East Bias at time = 2184.00 : -110.62 : Estimated Depth Bias at time = 2184.00 : -1.31 : Estimated northing and easting = 4074511.89 : 591133.35 : AshtechGps::processRecord() - $GPGGA,161620.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=118.13 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161620.13,3648.8717,N,-12158.6181,W,1,03,00.5,043.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161621.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2187.000180 : TerrainNav update at dvl time = 2187.000180 : _navData-> (x,y) = (4074785.63, 591248.46) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161621.13,3648.8715,N,-12158.6171,W,1,03,00.5,043.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161622.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=117.35 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161622.13,3648.8713,N,-12158.6161,W,1,03,00.5,043.0,M,-99.9,M,,*4f : Estimated North Bias at time = 2187.00 : -276.38 : AshtechGps::processRecord() - $GPGGA,161623.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated East Bias at time = 2187.00 : -111.23 : Estimated Depth Bias at time = 2187.00 : -1.31 : Estimated northing and easting = 4074509.25 : 591137.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=116.59 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161623.13,3648.8711,N,-12158.6151,W,1,03,00.5,042.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161624.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2189.999975 : TerrainNav update at dvl time = 2189.999975 : _navData-> (x,y) = (4074784.53, 591253.00) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161624.13,3648.8709,N,-12158.6141,W,1,03,00.5,042.7,M,-99.9,M,,*46 : LayeredControl _resolvedCommand - vertMode=2 vert=115.83 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161625.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161625.13,3648.8707,N,-12158.6131,W,1,03,00.5,042.8,M,-99.9,M,,*41 : Estimated North Bias at time = 2190.00 : -277.25 : Estimated East Bias at time = 2190.00 : -111.57 : Estimated Depth Bias at time = 2190.00 : -1.31 : Estimated northing and easting = 4074507.28 : 591141.43 : AshtechGps::processRecord() - $GPGGA,161626.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=115.25 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161626.13,3648.8705,N,-12158.6121,W,1,03,00.5,042.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161627.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2192.999769 : TerrainNav update at dvl time = 2192.999769 : _navData-> (x,y) = (4074783.43, 591257.53) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=114.41 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161627.13,3648.8703,N,-12158.6110,W,1,03,00.5,042.8,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161628.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161628.13,3648.8701,N,-12158.6100,W,1,03,00.5,042.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161629.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2193.00 : -278.62 : Estimated East Bias at time = 2193.00 : -112.23 : Estimated Depth Bias at time = 2193.00 : -1.31 : Estimated northing and easting = 4074504.81 : 591145.30 : LayeredControl _resolvedCommand - vertMode=2 vert=113.37 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161629.13,3648.8698,N,-12158.6090,W,1,03,00.5,042.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161630.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=112.26 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2195.999564 : TerrainNav update at dvl time = 2195.999564 : _navData-> (x,y) = (4074782.26, 591262.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161630.13,3648.8696,N,-12158.6080,W,1,03,00.5,042.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161631.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161631.13,3648.8694,N,-12158.6070,W,1,03,00.5,042.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=111.60 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161632.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2196.00 : -279.59 : Estimated East Bias at time = 2196.00 : -112.50 : Estimated Depth Bias at time = 2196.00 : -1.31 : Estimated northing and easting = 4074502.68 : 591149.54 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161632.13,3648.8691,N,-12158.6060,W,1,03,00.5,042.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161633.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=111.50 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2198.999358 : TerrainNav update at dvl time = 2198.999358 : _navData-> (x,y) = (4074780.99, 591266.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161633.13,3648.8689,N,-12158.6050,W,1,03,00.5,042.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161634.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=110.38 horzlMode=3 horz=1.84 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161634.13,3648.8686,N,-12158.6040,W,1,03,00.5,042.7,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161635.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2199.00 : -280.22 : Estimated East Bias at time = 2199.00 : -112.79 : Estimated Depth Bias at time = 2199.00 : -1.31 : Estimated northing and easting = 4074500.77 : 591153.73 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : Behavior waypoint - Timed out! : LayeredControl::execute() -- (t = 2246.196125) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 2246.196125) Behavior acousticUpdate:-1 has changed to state Finished : Waypoint Initialization: Begin waypoint control at t= 2246.20 (wplog) The current location (N,E) = 4074780.1 , 591269.5 (wplog) The next waypoint = 4074657.4 , 591491.9 (wplog) The bearing to the next w.p. is 118.9 Degrees. : LayeredControl::execute() -- (t = 2246.196125) Behavior waypoint:-1 has changed to state Active : NMEA Update: $GPGGA,161635.13,3648.8684,N,-12158.6030,W,1,03,00.5,042.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161636.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=109.68 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2201.999153 : TerrainNav update at dvl time = 2201.999153 : _navData-> (x,y) = (4074779.69, 591270.98) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161636.13,3648.8682,N,-12158.6020,W,1,03,00.5,042.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161637.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=109.14 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161637.13,3648.8679,N,-12158.6010,W,1,03,00.5,042.3,M,-99.9,M,,*43 : Estimated North Bias at time = 2202.00 : -281.78 : Estimated East Bias at time = 2202.00 : -113.22 : Estimated Depth Bias at time = 2202.00 : -1.31 : Estimated northing and easting = 4074497.91 : 591157.75 : AshtechGps::processRecord() - $GPGGA,161638.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161638.13,3648.8676,N,-12158.6001,W,1,03,00.5,042.7,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=108.46 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161639.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2204.998947 : TerrainNav update at dvl time = 2204.998947 : _navData-> (x,y) = (4074778.04, 591275.32) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161639.13,3648.8672,N,-12158.5991,W,1,03,00.5,042.6,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161640.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=107.70 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161640.13,3648.8668,N,-12158.5982,W,1,03,00.5,042.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161641.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2205.00 : -282.94 : Estimated East Bias at time = 2205.00 : -113.95 : Estimated Depth Bias at time = 2205.00 : -1.31 : Estimated northing and easting = 4074495.10 : 591161.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=106.87 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161641.13,3648.8664,N,-12158.5973,W,1,03,00.5,042.4,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161642.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2207.998742 : TerrainNav update at dvl time = 2207.998742 : _navData-> (x,y) = (4074775.75, 591279.33) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161642.13,3648.8659,N,-12158.5965,W,1,03,00.5,042.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161643.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=106.24 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161643.13,3648.8655,N,-12158.5956,W,1,03,00.5,043.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161644.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2208.00 : -283.72 : Estimated East Bias at time = 2208.00 : -114.46 : Estimated Depth Bias at time = 2208.00 : -1.32 : Estimated northing and easting = 4074492.03 : 591164.87 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=105.48 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161644.13,3648.8650,N,-12158.5947,W,1,03,00.5,043.1,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161645.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2210.998536 : TerrainNav update at dvl time = 2210.998536 : _navData-> (x,y) = (4074773.19, 591283.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161645.13,3648.8645,N,-12158.5939,W,1,03,00.5,042.3,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=104.78 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161646.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161646.13,3648.8641,N,-12158.5930,W,1,03,00.5,042.6,M,-99.9,M,,*43 : Estimated North Bias at time = 2211.00 : -284.51 : Estimated East Bias at time = 2211.00 : -114.99 : Estimated Depth Bias at time = 2211.00 : -1.32 : Estimated northing and easting = 4074488.68 : 591168.22 : AshtechGps::processRecord() - $GPGGA,161647.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=105.17 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161647.13,3648.8636,N,-12158.5921,W,1,03,00.5,043.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161648.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2213.998331 : TerrainNav update at dvl time = 2213.998331 : _navData-> (x,y) = (4074770.62, 591287.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=104.27 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161648.13,3648.8631,N,-12158.5913,W,1,03,00.5,043.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161649.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161649.13,3648.8627,N,-12158.5904,W,1,03,00.5,042.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161650.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=103.42 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : Estimated North Bias at time = 2214.00 : -285.83 : Estimated East Bias at time = 2214.00 : -116.01 : Estimated Depth Bias at time = 2214.00 : -1.32 : Estimated northing and easting = 4074484.78 : 591171.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161650.13,3648.8622,N,-12158.5895,W,1,03,00.5,042.8,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161651.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=102.65 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2216.998125 : TerrainNav update at dvl time = 2216.998125 : _navData-> (x,y) = (4074768.14, 591291.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161651.13,3648.8618,N,-12158.5886,W,1,03,00.5,043.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161652.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161652.13,3648.8613,N,-12158.5877,W,1,03,00.5,042.9,M,-99.9,M,,*4c : LayeredControl _resolvedCommand - vertMode=2 vert=101.72 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : Estimated North Bias at time = 2217.00 : -287.09 : Estimated East Bias at time = 2217.00 : -117.11 : Estimated Depth Bias at time = 2217.00 : -1.32 : Estimated northing and easting = 4074481.04 : 591173.95 : AshtechGps::processRecord() - $GPGGA,161653.00,,,,,0,00,,,M,,M,,*4E : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161653.13,3648.8609,N,-12158.5869,W,1,03,00.5,043.3,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161654.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=101.45 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2219.997920 : TerrainNav update at dvl time = 2219.997920 : _navData-> (x,y) = (4074765.73, 591295.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161654.13,3648.8604,N,-12158.5860,W,1,03,00.5,043.0,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161655.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=100.32 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161655.13,3648.8600,N,-12158.5851,W,1,03,00.5,042.9,M,-99.9,M,,*4d : Estimated North Bias at time = 2220.00 : -288.80 : Estimated East Bias at time = 2220.00 : -118.27 : Estimated Depth Bias at time = 2220.00 : -1.33 : Estimated northing and easting = 4074476.93 : 591176.77 : AshtechGps::processRecord() - $GPGGA,161656.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161656.13,3648.8596,N,-12158.5842,W,1,03,00.5,042.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161657.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=99.37 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2222.997714 : TerrainNav update at dvl time = 2222.997714 : _navData-> (x,y) = (4074763.36, 591299.05) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161657.13,3648.8591,N,-12158.5833,W,1,03,00.5,043.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161658.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=98.88 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161658.13,3648.8587,N,-12158.5824,W,1,03,00.5,042.8,M,-99.9,M,,*4f : Estimated North Bias at time = 2223.00 : -289.95 : Estimated East Bias at time = 2223.00 : -119.45 : Estimated Depth Bias at time = 2223.00 : -1.33 : Estimated northing and easting = 4074473.41 : 591179.61 : AshtechGps::processRecord() - $GPGGA,161659.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161659.13,3648.8583,N,-12158.5814,W,1,03,00.5,042.5,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=97.94 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161700.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2225.997509 : TerrainNav update at dvl time = 2225.997509 : _navData-> (x,y) = (4074761.00, 591303.19) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161700.13,3648.8578,N,-12158.5805,W,1,03,00.5,042.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161701.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=97.08 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161701.13,3648.8574,N,-12158.5796,W,1,03,00.5,042.3,M,-99.9,M,,*43 : Estimated North Bias at time = 2226.00 : -292.45 : Estimated East Bias at time = 2226.00 : -120.71 : Estimated Depth Bias at time = 2226.00 : -1.34 : Estimated northing and easting = 4074468.55 : 591182.48 : AshtechGps::processRecord() - $GPGGA,161702.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=96.29 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161702.13,3648.8570,N,-12158.5787,W,1,03,00.5,042.2,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161703.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2228.997303 : TerrainNav update at dvl time = 2228.997303 : _navData-> (x,y) = (4074758.66, 591307.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161703.13,3648.8565,N,-12158.5777,W,1,03,00.5,042.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161704.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=95.35 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161704.13,3648.8561,N,-12158.5768,W,1,03,00.5,042.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161705.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2229.00 : -295.16 : Estimated East Bias at time = 2229.00 : -122.19 : Estimated Depth Bias at time = 2229.00 : -1.34 : Estimated northing and easting = 4074463.50 : 591185.17 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=94.30 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161705.13,3648.8557,N,-12158.5759,W,1,03,00.5,041.6,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161706.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2231.997097 : TerrainNav update at dvl time = 2231.997097 : _navData-> (x,y) = (4074756.33, 591311.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161706.13,3648.8553,N,-12158.5749,W,1,03,00.5,041.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=93.04 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161707.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161707.13,3648.8548,N,-12158.5740,W,1,03,00.5,041.8,M,-99.9,M,,*49 : Estimated North Bias at time = 2232.00 : -296.93 : Estimated East Bias at time = 2232.00 : -123.14 : Estimated Depth Bias at time = 2232.00 : -1.34 : Estimated northing and easting = 4074459.40 : 591188.39 : AshtechGps::processRecord() - $GPGGA,161708.00,,,,,0,00,,,M,,M,,*41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=92.64 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161708.13,3648.8544,N,-12158.5731,W,1,03,00.5,041.2,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161709.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2234.996892 : TerrainNav update at dvl time = 2234.996892 : _navData-> (x,y) = (4074754.07, 591315.59) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=92.38 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161709.13,3648.8540,N,-12158.5722,W,1,03,00.5,041.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161710.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161710.13,3648.8536,N,-12158.5713,W,1,03,00.5,041.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161711.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2235.00 : -298.78 : Estimated East Bias at time = 2235.00 : -124.19 : Estimated Depth Bias at time = 2235.00 : -1.34 : Estimated northing and easting = 4074455.29 : 591191.39 : LayeredControl _resolvedCommand - vertMode=2 vert=91.69 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161711.13,3648.8532,N,-12158.5704,W,1,03,00.5,041.8,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161712.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=91.23 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2237.996687 : TerrainNav update at dvl time = 2237.996687 : _navData-> (x,y) = (4074751.91, 591319.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161712.13,3648.8528,N,-12158.5695,W,1,03,00.5,042.3,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161713.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161713.13,3648.8524,N,-12158.5686,W,1,03,00.5,042.4,M,-99.9,M,,*42 : Estimated North Bias at time = 2238.00 : -300.10 : Estimated East Bias at time = 2238.00 : -125.09 : Estimated Depth Bias at time = 2238.00 : -1.34 : Estimated northing and easting = 4074451.82 : 591194.55 : LayeredControl _resolvedCommand - vertMode=2 vert=90.63 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161714.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161714.13,3648.8520,N,-12158.5677,W,1,03,00.5,042.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161715.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=90.08 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2240.996481 : TerrainNav update at dvl time = 2240.996481 : _navData-> (x,y) = (4074749.73, 591323.75) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161715.13,3648.8516,N,-12158.5668,W,1,03,00.5,042.1,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161716.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=89.02 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161716.13,3648.8512,N,-12158.5658,W,1,03,00.5,042.2,M,-99.9,M,,*47 : Estimated North Bias at time = 2241.00 : -301.42 : Estimated East Bias at time = 2241.00 : -125.85 : Estimated Depth Bias at time = 2241.00 : -1.34 : Estimated northing and easting = 4074448.31 : 591197.90 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161717.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161717.13,3648.8508,N,-12158.5649,W,1,03,00.5,042.2,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161718.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=88.39 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2243.996276 : TerrainNav update at dvl time = 2243.996276 : _navData-> (x,y) = (4074747.64, 591327.90) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161718.13,3648.8505,N,-12158.5640,W,1,03,00.5,041.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161719.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=86.78 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161719.13,3648.8501,N,-12158.5631,W,1,03,00.5,041.2,M,-99.9,M,,*46 : Estimated North Bias at time = 2244.00 : -302.45 : Estimated East Bias at time = 2244.00 : -126.61 : Estimated Depth Bias at time = 2244.00 : -1.34 : Estimated northing and easting = 4074445.19 : 591201.29 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161720.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161720.13,3648.8497,N,-12158.5622,W,1,03,00.5,041.5,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=2 vert=85.58 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161721.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2246.996070 : TerrainNav update at dvl time = 2246.996070 : _navData-> (x,y) = (4074745.61, 591331.97) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161721.13,3648.8494,N,-12158.5613,W,1,03,00.5,042.0,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161722.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=85.25 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161722.13,3648.8490,N,-12158.5604,W,1,03,00.5,041.4,M,-99.9,M,,*47 : Estimated North Bias at time = 2247.00 : -304.08 : Estimated East Bias at time = 2247.00 : -127.46 : Estimated Depth Bias at time = 2247.00 : -1.33 : Estimated northing and easting = 4074441.53 : 591204.51 : AshtechGps::processRecord() - $GPGGA,161723.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=84.94 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161723.13,3648.8486,N,-12158.5595,W,1,03,00.5,041.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161724.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2249.995865 : TerrainNav update at dvl time = 2249.995865 : _navData-> (x,y) = (4074743.59, 591335.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161724.13,3648.8482,N,-12158.5587,W,1,03,00.5,041.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161725.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=84.49 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161725.13,3648.8479,N,-12158.5578,W,1,03,00.5,041.5,M,-99.9,M,,*4e : Estimated North Bias at time = 2250.00 : -305.09 : Estimated East Bias at time = 2250.00 : -128.24 : Estimated Depth Bias at time = 2250.00 : -1.32 : Estimated northing and easting = 4074438.50 : 591207.66 : AshtechGps::processRecord() - $GPGGA,161726.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=83.61 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161726.13,3648.8475,N,-12158.5569,W,1,03,00.5,042.0,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161727.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2252.995659 : TerrainNav update at dvl time = 2252.995659 : _navData-> (x,y) = (4074741.61, 591339.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161727.13,3648.8471,N,-12158.5560,W,1,03,00.5,042.1,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=2 vert=83.40 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161728.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161728.13,3648.8468,N,-12158.5551,W,1,03,00.5,042.3,M,-99.9,M,,*4d : Estimated North Bias at time = 2253.00 : -306.06 : Estimated East Bias at time = 2253.00 : -128.89 : Estimated Depth Bias at time = 2253.00 : -1.32 : Estimated northing and easting = 4074435.55 : 591210.95 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161729.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=82.33 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161729.13,3648.8464,N,-12158.5542,W,1,03,00.5,041.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161730.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2255.995454 : TerrainNav update at dvl time = 2255.995454 : _navData-> (x,y) = (4074739.61, 591343.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=81.65 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161730.13,3648.8460,N,-12158.5533,W,1,03,00.5,041.9,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161731.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161731.13,3648.8457,N,-12158.5524,W,1,03,00.5,041.8,M,-99.9,M,,*43 : Estimated North Bias at time = 2256.00 : -306.75 : Estimated East Bias at time = 2256.00 : -129.32 : Estimated Depth Bias at time = 2256.00 : -1.32 : Estimated northing and easting = 4074432.86 : 591214.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161732.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=80.96 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161732.13,3648.8453,N,-12158.5515,W,1,03,00.5,041.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161733.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=79.80 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2258.995248 : TerrainNav update at dvl time = 2258.995248 : _navData-> (x,y) = (4074737.48, 591347.86) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161733.13,3648.8449,N,-12158.5507,W,1,03,00.5,041.9,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161734.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161734.13,3648.8444,N,-12158.5498,W,1,03,00.5,041.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=79.62 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : Estimated North Bias at time = 2259.00 : -307.79 : Estimated East Bias at time = 2259.00 : -129.90 : Estimated Depth Bias at time = 2259.00 : -1.33 : Estimated northing and easting = 4074429.68 : 591217.96 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161735.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161735.13,3648.8440,N,-12158.5489,W,1,03,00.5,041.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161736.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=78.84 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2261.995043 : TerrainNav update at dvl time = 2261.995043 : _navData-> (x,y) = (4074735.25, 591351.84) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161736.13,3648.8436,N,-12158.5480,W,1,03,00.5,041.8,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161737.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=78.09 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161737.13,3648.8432,N,-12158.5471,W,1,03,00.5,041.7,M,-99.9,M,,*48 : Estimated North Bias at time = 2262.00 : -308.80 : Estimated East Bias at time = 2262.00 : -130.44 : Estimated Depth Bias at time = 2262.00 : -1.34 : Estimated northing and easting = 4074426.45 : 591221.40 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161738.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161738.13,3648.8428,N,-12158.5463,W,1,03,00.5,041.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161739.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=76.72 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2264.994837 : TerrainNav update at dvl time = 2264.994837 : _navData-> (x,y) = (4074733.06, 591355.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161739.13,3648.8424,N,-12158.5454,W,1,03,00.5,041.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161740.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=76.39 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161740.14,3648.8420,N,-12158.5445,W,1,03,00.5,041.6,M,-99.9,M,,*4a : Estimated North Bias at time = 2264.99 : -309.98 : Estimated East Bias at time = 2264.99 : -130.98 : Estimated Depth Bias at time = 2264.99 : -1.34 : Estimated northing and easting = 4074423.08 : 591224.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161741.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161741.14,3648.8417,N,-12158.5437,W,1,03,00.5,041.7,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=75.91 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161742.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2267.994632 : TerrainNav update at dvl time = 2267.994632 : _navData-> (x,y) = (4074730.97, 591359.59) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161742.14,3648.8413,N,-12158.5428,W,1,03,00.5,041.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161743.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=75.51 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161743.14,3648.8409,N,-12158.5419,W,1,03,00.5,041.9,M,-99.9,M,,*44 : Estimated North Bias at time = 2267.99 : -311.37 : Estimated East Bias at time = 2267.99 : -131.55 : Estimated Depth Bias at time = 2267.99 : -1.35 : Estimated northing and easting = 4074419.60 : 591228.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161744.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=74.87 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161744.14,3648.8405,N,-12158.5410,W,1,03,00.5,042.0,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161745.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2270.994426 : TerrainNav update at dvl time = 2270.994426 : _navData-> (x,y) = (4074728.93, 591363.54) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161745.14,3648.8401,N,-12158.5402,W,1,03,00.5,042.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161746.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=74.17 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161746.14,3648.8398,N,-12158.5393,W,1,03,00.5,041.6,M,-99.9,M,,*44 : Estimated North Bias at time = 2270.99 : -312.60 : Estimated East Bias at time = 2270.99 : -132.27 : Estimated Depth Bias at time = 2270.99 : -1.35 : Estimated northing and easting = 4074416.33 : 591231.27 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161747.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=73.24 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161747.14,3648.8393,N,-12158.5384,W,1,03,00.5,041.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161748.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2273.994220 : TerrainNav update at dvl time = 2273.994220 : _navData-> (x,y) = (4074726.75, 591367.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161748.14,3648.8389,N,-12158.5376,W,1,03,00.5,042.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=72.75 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161749.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161749.14,3648.8385,N,-12158.5367,W,1,03,00.5,042.6,M,-99.9,M,,*4f : Estimated North Bias at time = 2273.99 : -313.67 : Estimated East Bias at time = 2273.99 : -132.76 : Estimated Depth Bias at time = 2273.99 : -1.35 : Estimated northing and easting = 4074413.08 : 591234.70 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161750.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=72.24 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161750.14,3648.8381,N,-12158.5358,W,1,03,00.5,042.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161751.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2276.994015 : TerrainNav update at dvl time = 2276.994015 : _navData-> (x,y) = (4074724.45, 591371.33) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=71.58 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161751.14,3648.8377,N,-12158.5350,W,1,03,00.5,042.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161752.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161752.14,3648.8372,N,-12158.5341,W,1,03,00.5,042.6,M,-99.9,M,,*49 : Estimated North Bias at time = 2276.99 : -314.47 : Estimated East Bias at time = 2276.99 : -133.19 : Estimated Depth Bias at time = 2276.99 : -1.35 : Estimated northing and easting = 4074409.98 : 591238.15 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161753.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=71.21 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161753.14,3648.8368,N,-12158.5332,W,1,03,00.5,042.8,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161754.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=70.75 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2279.993810 : TerrainNav update at dvl time = 2279.993810 : _navData-> (x,y) = (4074722.17, 591375.25) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161754.14,3648.8364,N,-12158.5323,W,1,03,00.5,042.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161755.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161755.14,3648.8360,N,-12158.5315,W,1,03,00.5,042.8,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=2 vert=70.25 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161756.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2279.99 : -315.29 : Estimated East Bias at time = 2279.99 : -133.74 : Estimated Depth Bias at time = 2279.99 : -1.34 : Estimated northing and easting = 4074406.88 : 591241.51 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161756.14,3648.8356,N,-12158.5306,W,1,03,00.5,042.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161757.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=69.66 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2282.993604 : TerrainNav update at dvl time = 2282.993604 : _navData-> (x,y) = (4074719.99, 591379.20) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161757.14,3648.8352,N,-12158.5297,W,1,03,00.5,042.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161758.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=68.24 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161758.13,3648.8348,N,-12158.5288,W,1,03,00.5,042.1,M,-99.9,M,,*4e : Estimated North Bias at time = 2282.99 : -315.95 : Estimated East Bias at time = 2282.99 : -134.10 : Estimated Depth Bias at time = 2282.99 : -1.34 : Estimated northing and easting = 4074404.03 : 591245.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161759.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161759.13,3648.8344,N,-12158.5280,W,1,03,00.5,043.0,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161800.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=68.19 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2285.993399 : TerrainNav update at dvl time = 2285.993399 : _navData-> (x,y) = (4074717.76, 591383.04) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161800.13,3648.8340,N,-12158.5271,W,1,03,00.5,043.5,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161801.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=66.72 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161801.13,3648.8336,N,-12158.5263,W,1,03,00.5,042.3,M,-99.9,M,,*43 : Estimated North Bias at time = 2285.99 : -316.83 : Estimated East Bias at time = 2285.99 : -134.61 : Estimated Depth Bias at time = 2285.99 : -1.34 : Estimated northing and easting = 4074400.93 : 591248.43 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161802.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161802.13,3648.8331,N,-12158.5255,W,1,03,00.5,043.4,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=67.24 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161803.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2288.993193 : TerrainNav update at dvl time = 2288.993193 : _navData-> (x,y) = (4074715.39, 591386.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161803.13,3648.8327,N,-12158.5246,W,1,03,00.5,044.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161804.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=66.10 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161804.13,3648.8322,N,-12158.5238,W,1,03,00.5,043.6,M,-99.9,M,,*49 : Estimated North Bias at time = 2288.99 : -317.72 : Estimated East Bias at time = 2288.99 : -135.23 : Estimated Depth Bias at time = 2288.99 : -1.34 : Estimated northing and easting = 4074397.67 : 591251.58 : AshtechGps::processRecord() - $GPGGA,161805.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=66.04 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161805.13,3648.8318,N,-12158.5229,W,1,03,00.5,043.6,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,161806.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2292.002987 : TerrainNav update at dvl time = 2292.002987 : _navData-> (x,y) = (4074712.99, 591390.70) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161806.13,3648.8314,N,-12158.5220,W,1,03,00.5,043.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161807.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=65.72 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161807.13,3648.8309,N,-12158.5211,W,1,03,00.5,044.0,M,-99.9,M,,*49 : Estimated North Bias at time = 2292.00 : -318.47 : Estimated East Bias at time = 2292.00 : -135.78 : Estimated Depth Bias at time = 2292.00 : -1.34 : Estimated northing and easting = 4074394.51 : 591254.92 : AshtechGps::processRecord() - $GPGGA,161808.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=64.84 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161808.13,3648.8305,N,-12158.5202,W,1,03,00.5,043.8,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161809.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2295.002781 : TerrainNav update at dvl time = 2295.002781 : _navData-> (x,y) = (4074710.78, 591394.74) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161809.13,3648.8302,N,-12158.5193,W,1,03,00.5,043.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=64.05 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161810.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161810.13,3648.8298,N,-12158.5184,W,1,03,00.5,043.6,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161811.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2295.00 : -319.54 : Estimated East Bias at time = 2295.00 : -136.48 : Estimated Depth Bias at time = 2295.00 : -1.35 : Estimated northing and easting = 4074391.24 : 591258.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=63.32 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161811.13,3648.8294,N,-12158.5175,W,1,03,00.5,043.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161812.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2298.002576 : TerrainNav update at dvl time = 2298.002576 : _navData-> (x,y) = (4074708.78, 591398.80) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=62.68 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161812.13,3648.8290,N,-12158.5166,W,1,03,00.5,043.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161813.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161813.13,3648.8287,N,-12158.5157,W,1,03,00.5,042.7,M,-99.9,M,,*4b : Estimated North Bias at time = 2298.00 : -320.80 : Estimated East Bias at time = 2298.00 : -137.22 : Estimated Depth Bias at time = 2298.00 : -1.35 : Estimated northing and easting = 4074387.98 : 591261.58 : AshtechGps::processRecord() - $GPGGA,161814.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=61.08 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161814.13,3648.8283,N,-12158.5148,W,1,03,00.5,043.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161815.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=60.24 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2301.002370 : TerrainNav update at dvl time = 2301.002370 : _navData-> (x,y) = (4074706.74, 591402.81) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161815.13,3648.8279,N,-12158.5139,W,1,03,00.5,042.9,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161816.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161816.13,3648.8275,N,-12158.5130,W,1,03,00.5,043.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=59.49 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : Estimated North Bias at time = 2301.00 : -321.43 : Estimated East Bias at time = 2301.00 : -137.51 : Estimated Depth Bias at time = 2301.00 : -1.35 : Estimated northing and easting = 4074385.31 : 591265.30 : AshtechGps::processRecord() - $GPGGA,161817.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161817.13,3648.8271,N,-12158.5121,W,1,03,00.5,043.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161818.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=59.01 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2304.002165 : TerrainNav update at dvl time = 2304.002165 : _navData-> (x,y) = (4074704.54, 591406.85) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161818.13,3648.8267,N,-12158.5112,W,1,03,00.5,042.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161819.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=58.51 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161819.13,3648.8263,N,-12158.5103,W,1,03,00.5,043.0,M,-99.9,M,,*4c : Estimated North Bias at time = 2304.00 : -322.00 : Estimated East Bias at time = 2304.00 : -137.82 : Estimated Depth Bias at time = 2304.00 : -1.35 : Estimated northing and easting = 4074382.53 : 591269.03 : AshtechGps::processRecord() - $GPGGA,161820.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161820.13,3648.8259,N,-12158.5094,W,1,03,00.5,043.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161821.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=57.44 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2307.001959 : TerrainNav update at dvl time = 2307.001959 : _navData-> (x,y) = (4074702.26, 591410.82) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161821.13,3648.8254,N,-12158.5086,W,1,03,00.5,043.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161822.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=57.41 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161822.13,3648.8250,N,-12158.5077,W,1,03,00.5,043.8,M,-99.9,M,,*4e : Estimated North Bias at time = 2307.00 : -322.80 : Estimated East Bias at time = 2307.00 : -138.08 : Estimated Depth Bias at time = 2307.00 : -1.36 : Estimated northing and easting = 4074379.47 : 591272.74 : AshtechGps::processRecord() - $GPGGA,161823.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161823.13,3648.8246,N,-12158.5068,W,1,03,00.5,043.6,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=56.92 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161824.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2310.001754 : TerrainNav update at dvl time = 2310.001754 : _navData-> (x,y) = (4074700.07, 591414.72) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161824.13,3648.8242,N,-12158.5060,W,1,03,00.5,043.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161825.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=56.88 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161825.13,3648.8238,N,-12158.5051,W,1,03,00.5,044.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161826.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2310.00 : -323.50 : Estimated East Bias at time = 2310.00 : -138.50 : Estimated Depth Bias at time = 2310.00 : -1.36 : Estimated northing and easting = 4074376.56 : 591276.22 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=56.09 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161826.13,3648.8235,N,-12158.5042,W,1,03,00.5,044.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161827.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2313.001549 : TerrainNav update at dvl time = 2313.001549 : _navData-> (x,y) = (4074697.94, 591418.65) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161827.13,3648.8231,N,-12158.5033,W,1,03,00.5,044.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161828.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=55.77 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161828.13,3648.8227,N,-12158.5024,W,1,03,00.5,044.7,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161829.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2313.00 : -324.22 : Estimated East Bias at time = 2313.00 : -138.98 : Estimated Depth Bias at time = 2313.00 : -1.35 : Estimated northing and easting = 4074373.72 : 591279.68 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=54.84 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161829.13,3648.8223,N,-12158.5015,W,1,03,00.5,044.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161830.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2316.001343 : TerrainNav update at dvl time = 2316.001343 : _navData-> (x,y) = (4074695.81, 591422.66) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161830.13,3648.8219,N,-12158.5006,W,1,03,00.5,044.7,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=54.41 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161831.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161831.13,3648.8215,N,-12158.4997,W,1,03,00.5,044.4,M,-99.9,M,,*40 : Estimated North Bias at time = 2316.00 : -325.13 : Estimated East Bias at time = 2316.00 : -139.54 : Estimated Depth Bias at time = 2316.00 : -1.35 : Estimated northing and easting = 4074370.68 : 591283.12 : AshtechGps::processRecord() - $GPGGA,161832.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=53.61 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161832.13,3648.8211,N,-12158.4989,W,1,03,00.5,044.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161833.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2319.001137 : TerrainNav update at dvl time = 2319.001137 : _navData-> (x,y) = (4074693.59, 591426.66) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=52.77 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161833.13,3648.8207,N,-12158.4980,W,1,03,00.5,044.4,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161834.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161834.13,3648.8203,N,-12158.4971,W,1,03,00.5,045.4,M,-99.9,M,,*4b : Estimated North Bias at time = 2319.00 : -325.53 : Estimated East Bias at time = 2319.00 : -139.64 : Estimated Depth Bias at time = 2319.00 : -1.35 : Estimated northing and easting = 4074368.06 : 591287.02 : AshtechGps::processRecord() - $GPGGA,161835.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=53.09 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161835.13,3648.8198,N,-12158.4962,W,1,03,00.5,045.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161836.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=52.32 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2322.000932 : TerrainNav update at dvl time = 2322.000932 : _navData-> (x,y) = (4074691.37, 591430.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161836.13,3648.8194,N,-12158.4953,W,1,03,00.5,045.3,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161837.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161837.13,3648.8190,N,-12158.4944,W,1,03,00.5,045.3,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=2 vert=52.17 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : Estimated North Bias at time = 2322.00 : -326.25 : Estimated East Bias at time = 2322.00 : -140.04 : Estimated Depth Bias at time = 2322.00 : -1.35 : Estimated northing and easting = 4074365.12 : 591290.58 : AshtechGps::processRecord() - $GPGGA,161838.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161838.13,3648.8187,N,-12158.4936,W,1,03,00.5,045.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161839.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=51.63 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2325.000726 : TerrainNav update at dvl time = 2325.000726 : _navData-> (x,y) = (4074689.26, 591434.57) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161839.13,3648.8183,N,-12158.4927,W,1,03,00.5,046.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161840.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=51.35 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161840.13,3648.8179,N,-12158.4918,W,1,03,00.5,046.3,M,-99.9,M,,*4d : Estimated North Bias at time = 2325.00 : -327.23 : Estimated East Bias at time = 2325.00 : -140.59 : Estimated Depth Bias at time = 2325.00 : -1.35 : Estimated northing and easting = 4074362.03 : 591293.98 : AshtechGps::processRecord() - $GPGGA,161841.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161841.13,3648.8175,N,-12158.4909,W,1,03,00.5,046.6,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161842.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.78 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2328.000521 : TerrainNav update at dvl time = 2328.000521 : _navData-> (x,y) = (4074687.14, 591438.58) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161842.13,3648.8171,N,-12158.4900,W,1,03,00.5,046.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161843.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.47 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161843.13,3648.8167,N,-12158.4891,W,1,03,00.5,046.7,M,-99.9,M,,*45 : Estimated North Bias at time = 2328.00 : -327.78 : Estimated East Bias at time = 2328.00 : -140.89 : Estimated Depth Bias at time = 2328.00 : -1.35 : Estimated northing and easting = 4074359.36 : 591297.69 : AshtechGps::processRecord() - $GPGGA,161844.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161844.13,3648.8163,N,-12158.4882,W,1,03,00.5,046.7,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=2 vert=49.93 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161845.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2331.000315 : TerrainNav update at dvl time = 2331.000315 : _navData-> (x,y) = (4074684.92, 591442.52) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161845.13,3648.8159,N,-12158.4874,W,1,03,00.5,047.3,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161846.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=50.00 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161846.13,3648.8155,N,-12158.4865,W,1,03,00.5,047.5,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161847.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2331.00 : -328.61 : Estimated East Bias at time = 2331.00 : -141.28 : Estimated Depth Bias at time = 2331.00 : -1.34 : Estimated northing and easting = 4074356.31 : 591301.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=49.53 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161847.13,3648.8151,N,-12158.4856,W,1,03,00.5,047.4,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161848.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2334.000110 : TerrainNav update at dvl time = 2334.000110 : _navData-> (x,y) = (4074682.68, 591446.44) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161848.13,3648.8146,N,-12158.4847,W,1,03,00.5,047.6,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161849.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=49.33 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161849.13,3648.8143,N,-12158.4838,W,1,03,00.5,047.5,M,-99.9,M,,*49 : Estimated North Bias at time = 2334.00 : -329.43 : Estimated East Bias at time = 2334.00 : -141.68 : Estimated Depth Bias at time = 2334.00 : -1.34 : Estimated northing and easting = 4074353.25 : 591304.76 : AshtechGps::processRecord() - $GPGGA,161850.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=49.84 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161850.13,3648.8139,N,-12158.4829,W,1,03,00.5,048.8,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161851.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2336.999904 : TerrainNav update at dvl time = 2336.999904 : _navData-> (x,y) = (4074680.57, 591450.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161851.13,3648.8135,N,-12158.4820,W,1,03,00.5,048.3,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=2 vert=48.82 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161852.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161852.13,3648.8131,N,-12158.4810,W,1,03,00.5,048.4,M,-99.9,M,,*42 : Estimated North Bias at time = 2337.00 : -330.42 : Estimated East Bias at time = 2337.00 : -142.28 : Estimated Depth Bias at time = 2337.00 : -1.34 : Estimated northing and easting = 4074350.15 : 591308.27 : AshtechGps::processRecord() - $GPGGA,161853.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=48.62 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161853.13,3648.8127,N,-12158.4801,W,1,03,00.5,048.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161854.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2339.999699 : TerrainNav update at dvl time = 2339.999699 : _navData-> (x,y) = (4074678.50, 591454.74) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=48.05 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161854.13,3648.8123,N,-12158.4792,W,1,03,00.5,048.2,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161855.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161855.13,3648.8119,N,-12158.4783,W,1,03,00.5,047.9,M,-99.9,M,,*48 : Estimated North Bias at time = 2340.00 : -331.25 : Estimated East Bias at time = 2340.00 : -142.72 : Estimated Depth Bias at time = 2340.00 : -1.34 : Estimated northing and easting = 4074347.25 : 591312.02 : AshtechGps::processRecord() - $GPGGA,161856.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=47.43 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161856.13,3648.8116,N,-12158.4774,W,1,03,00.5,048.1,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,161857.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=46.99 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2342.999493 : TerrainNav update at dvl time = 2342.999493 : _navData-> (x,y) = (4074676.35, 591458.73) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161857.13,3648.8112,N,-12158.4765,W,1,03,00.5,048.0,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161858.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161858.13,3648.8107,N,-12158.4757,W,1,03,00.5,047.2,M,-99.9,M,,*48 : LayeredControl _resolvedCommand - vertMode=2 vert=46.11 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161859.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2343.00 : -332.19 : Estimated East Bias at time = 2343.00 : -143.10 : Estimated Depth Bias at time = 2343.00 : -1.34 : Estimated northing and easting = 4074344.16 : 591315.63 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161859.13,3648.8103,N,-12158.4748,W,1,03,00.5,046.9,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161900.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=45.51 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2345.999288 : TerrainNav update at dvl time = 2345.999288 : _navData-> (x,y) = (4074674.10, 591462.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161900.13,3648.8099,N,-12158.4740,W,1,03,00.5,047.4,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161901.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=44.95 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161901.13,3648.8095,N,-12158.4732,W,1,03,00.5,046.6,M,-99.9,M,,*49 : Estimated North Bias at time = 2346.00 : -333.03 : Estimated East Bias at time = 2346.00 : -143.38 : Estimated Depth Bias at time = 2346.00 : -1.34 : Estimated northing and easting = 4074341.06 : 591319.13 : AshtechGps::processRecord() - $GPGGA,161902.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161902.13,3648.8091,N,-12158.4723,W,1,03,00.5,046.6,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161903.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=44.56 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2348.999082 : TerrainNav update at dvl time = 2348.999082 : _navData-> (x,y) = (4074671.81, 591466.30) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161903.13,3648.8087,N,-12158.4715,W,1,03,00.5,046.5,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161904.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=44.05 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161904.13,3648.8082,N,-12158.4706,W,1,03,00.5,046.4,M,-99.9,M,,*4f : Estimated North Bias at time = 2349.00 : -333.79 : Estimated East Bias at time = 2349.00 : -143.73 : Estimated Depth Bias at time = 2349.00 : -1.33 : Estimated northing and easting = 4074338.02 : 591322.56 : AshtechGps::processRecord() - $GPGGA,161905.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161905.13,3648.8078,N,-12158.4697,W,1,03,00.5,046.5,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=2 vert=43.81 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161906.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2351.998877 : TerrainNav update at dvl time = 2351.998877 : _navData-> (x,y) = (4074669.53, 591470.29) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161906.13,3648.8074,N,-12158.4688,W,1,03,00.5,046.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161907.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=43.80 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161907.13,3648.8070,N,-12158.4679,W,1,03,00.5,045.5,M,-99.9,M,,*4a : Estimated North Bias at time = 2352.00 : -334.94 : Estimated East Bias at time = 2352.00 : -144.41 : Estimated Depth Bias at time = 2352.00 : -1.33 : Estimated northing and easting = 4074334.60 : 591325.88 : AshtechGps::processRecord() - $GPGGA,161908.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=42.65 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161908.13,3648.8066,N,-12158.4670,W,1,03,00.5,046.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161909.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2354.998672 : TerrainNav update at dvl time = 2354.998672 : _navData-> (x,y) = (4074667.30, 591474.31) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161909.13,3648.8062,N,-12158.4661,W,1,03,00.5,045.6,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161910.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=41.46 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161910.13,3648.8058,N,-12158.4652,W,1,03,00.5,047.0,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161911.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2355.00 : -335.61 : Estimated East Bias at time = 2355.00 : -144.69 : Estimated Depth Bias at time = 2355.00 : -1.33 : Estimated northing and easting = 4074331.68 : 591329.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=41.72 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161911.13,3648.8054,N,-12158.4644,W,1,03,00.5,046.7,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161912.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2357.998466 : TerrainNav update at dvl time = 2357.998466 : _navData-> (x,y) = (4074665.09, 591478.21) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161912.13,3648.8050,N,-12158.4635,W,1,03,00.5,046.9,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=41.31 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161913.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161913.13,3648.8045,N,-12158.4627,W,1,03,00.5,046.9,M,-99.9,M,,*4d : Estimated North Bias at time = 2358.00 : -336.26 : Estimated East Bias at time = 2358.00 : -144.94 : Estimated Depth Bias at time = 2358.00 : -1.33 : Estimated northing and easting = 4074328.84 : 591333.27 : AshtechGps::processRecord() - $GPGGA,161914.00,,,,,0,00,,,M,,M,,*42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=41.24 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161914.13,3648.8041,N,-12158.4619,W,1,03,00.5,047.1,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161915.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2360.998260 : TerrainNav update at dvl time = 2360.998260 : _navData-> (x,y) = (4074662.77, 591481.77) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=40.77 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161915.13,3648.8037,N,-12158.4612,W,1,03,00.5,047.2,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161916.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161916.13,3648.8032,N,-12158.4604,W,1,03,00.5,047.4,M,-99.9,M,,*45 : Estimated North Bias at time = 2361.00 : -336.80 : Estimated East Bias at time = 2361.00 : -145.07 : Estimated Depth Bias at time = 2361.00 : -1.32 : Estimated northing and easting = 4074325.98 : 591336.70 : AshtechGps::processRecord() - $GPGGA,161917.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=40.64 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161917.13,3648.8028,N,-12158.4597,W,1,03,00.5,048.2,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161918.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=41.15 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2363.998055 : TerrainNav update at dvl time = 2363.998055 : _navData-> (x,y) = (4074660.41, 591485.17) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161918.13,3648.8024,N,-12158.4589,W,1,03,00.5,048.5,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,161919.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161919.13,3648.8020,N,-12158.4580,W,1,03,00.5,048.6,M,-99.9,M,,*4b : LayeredControl _resolvedCommand - vertMode=2 vert=40.65 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161920.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2364.00 : -337.42 : Estimated East Bias at time = 2364.00 : -145.57 : Estimated Depth Bias at time = 2364.00 : -1.32 : Estimated northing and easting = 4074322.98 : 591339.60 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161920.13,3648.8016,N,-12158.4571,W,1,03,00.5,049.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161921.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=40.82 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2366.997849 : TerrainNav update at dvl time = 2366.997849 : _navData-> (x,y) = (4074658.18, 591489.13) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161921.13,3648.8012,N,-12158.4562,W,1,03,00.5,049.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161922.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=2 vert=40.95 horzlMode=3 horz=2.07 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161922.13,3648.8007,N,-12158.4552,W,1,03,00.5,049.6,M,-99.9,M,,*48 : Estimated North Bias at time = 2367.00 : -338.10 : Estimated East Bias at time = 2367.00 : -146.39 : Estimated Depth Bias at time = 2367.00 : -1.32 : Estimated northing and easting = 4074320.08 : 591342.74 : AshtechGps::processRecord() - $GPGGA,161923.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : Waypoint has set the state to finished. : Waypoint (4074657.4, 591491.9), reached at t = 2413.99 (wplog) : Vehicle Position is error is (0.6, 0.2) : LayeredControl::execute() -- (t = 2413.994630) Behavior waypoint:-1 has changed to state Finished : sending status via acoustic modem : LayeredControl::execute() -- (t = 2413.994630) Behavior acousticUpdate:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2414.004629) Behavior ascend:-1 has changed to state Active : NMEA Update: $GPGGA,161923.13,3648.8003,N,-12158.4542,W,1,03,00.5,049.6,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161924.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2369.997644 : TerrainNav update at dvl time = 2369.997644 : _navData-> (x,y) = (4074655.98, 591493.49) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161924.13,3648.7999,N,-12158.4533,W,1,03,00.5,049.9,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161925.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161925.13,3648.7996,N,-12158.4524,W,1,03,00.5,049.6,M,-99.9,M,,*40 : Estimated North Bias at time = 2370.00 : -338.59 : Estimated East Bias at time = 2370.00 : -146.65 : Estimated Depth Bias at time = 2370.00 : -1.31 : Estimated northing and easting = 4074317.39 : 591346.84 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161926.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161926.13,3648.7992,N,-12158.4515,W,1,03,00.5,049.0,M,-99.9,M,,*43 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161927.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2372.997438 : TerrainNav update at dvl time = 2372.997438 : _navData-> (x,y) = (4074654.03, 591497.51) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161927.13,3648.7989,N,-12158.4506,W,1,03,00.5,049.0,M,-99.9,M,,*4a : AshtechGps::processRecord() - $GPGGA,161928.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161928.13,3648.7986,N,-12158.4498,W,1,03,00.5,048.1,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161929.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2373.00 : -339.32 : Estimated East Bias at time = 2373.00 : -146.70 : Estimated Depth Bias at time = 2373.00 : -1.31 : Estimated northing and easting = 4074314.71 : 591350.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161929.13,3648.7984,N,-12158.4490,W,1,03,00.5,047.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161930.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2375.997233 : TerrainNav update at dvl time = 2375.997233 : _navData-> (x,y) = (4074652.93, 591501.08) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161930.13,3648.7983,N,-12158.4482,W,1,03,00.5,047.7,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161931.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161931.13,3648.7982,N,-12158.4474,W,1,03,00.5,048.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161932.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2376.00 : -340.65 : Estimated East Bias at time = 2376.00 : -146.98 : Estimated Depth Bias at time = 2376.00 : -1.32 : Estimated northing and easting = 4074312.28 : 591354.10 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161932.13,3648.7982,N,-12158.4466,W,1,03,00.5,049.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161933.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2378.997027 : TerrainNav update at dvl time = 2378.997027 : _navData-> (x,y) = (4074652.72, 591504.67) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161933.13,3648.7982,N,-12158.4458,W,1,03,00.5,050.1,M,-99.9,M,,*47 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161934.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161934.13,3648.7983,N,-12158.4449,W,1,03,00.5,050.0,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161935.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 2379.00 : -342.20 : Estimated East Bias at time = 2379.00 : -147.42 : Estimated Depth Bias at time = 2379.00 : -1.32 : Estimated northing and easting = 4074310.53 : 591357.25 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161935.13,3648.7984,N,-12158.4440,W,1,03,00.5,051.2,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,161936.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2381.996822 : TerrainNav update at dvl time = 2381.996822 : _navData-> (x,y) = (4074653.49, 591508.66) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161936.13,3648.7986,N,-12158.4431,W,1,03,00.5,051.7,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,161937.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161937.13,3648.7989,N,-12158.4422,W,1,03,00.5,052.8,M,-99.9,M,,*4e : Estimated North Bias at time = 2382.00 : -344.29 : Estimated East Bias at time = 2382.00 : -147.73 : Estimated Depth Bias at time = 2382.00 : -1.31 : Estimated northing and easting = 4074309.20 : 591360.93 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,161938.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161938.13,3648.7992,N,-12158.4414,W,1,03,00.5,053.4,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,161939.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2384.996616 : TerrainNav update at dvl time = 2384.996616 : _navData-> (x,y) = (4074655.19, 591512.43) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161939.13,3648.7996,N,-12158.4406,W,1,03,00.5,053.7,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161940.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161940.13,3648.7999,N,-12158.4399,W,1,03,00.5,053.3,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161941.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2385.00 : -346.57 : Estimated East Bias at time = 2385.00 : -147.12 : Estimated Depth Bias at time = 2385.00 : -1.31 : Estimated northing and easting = 4074308.62 : 591365.31 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161941.13,3648.8003,N,-12158.4394,W,1,03,00.5,054.6,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161942.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2387.996411 : TerrainNav update at dvl time = 2387.996411 : _navData-> (x,y) = (4074657.42, 591514.91) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161942.13,3648.8008,N,-12158.4390,W,1,03,00.5,053.6,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161943.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161943.13,3648.8012,N,-12158.4386,W,1,03,00.5,054.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161944.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2388.00 : -348.23 : Estimated East Bias at time = 2388.00 : -145.50 : Estimated Depth Bias at time = 2388.00 : -1.31 : Estimated northing and easting = 4074309.18 : 591369.41 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161944.13,3648.8017,N,-12158.4382,W,1,03,00.5,055.1,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,161945.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2390.996205 : TerrainNav update at dvl time = 2390.996205 : _navData-> (x,y) = (4074660.15, 591516.62) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161945.13,3648.8023,N,-12158.4378,W,1,03,00.5,056.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161946.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161946.13,3648.8028,N,-12158.4374,W,1,03,00.5,056.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161947.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2391.00 : -349.76 : Estimated East Bias at time = 2391.00 : -144.24 : Estimated Depth Bias at time = 2391.00 : -1.31 : Estimated northing and easting = 4074310.40 : 591372.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161947.13,3648.8035,N,-12158.4370,W,1,03,00.5,057.7,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161948.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2393.996000 : TerrainNav update at dvl time = 2393.996000 : _navData-> (x,y) = (4074663.58, 591518.45) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161948.13,3648.8041,N,-12158.4365,W,1,03,00.5,057.4,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161949.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161949.13,3648.8048,N,-12158.4362,W,1,03,00.5,059.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,161950.00,,,,,0,00,,,M,,M,,*42 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2394.00 : -351.27 : Estimated East Bias at time = 2394.00 : -143.00 : Estimated Depth Bias at time = 2394.00 : -1.31 : Estimated northing and easting = 4074312.32 : 591375.45 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161950.13,3648.8055,N,-12158.4360,W,1,03,00.5,059.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,161951.00,,,,,0,00,,,M,,M,,*43 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2396.995795 : TerrainNav update at dvl time = 2396.995795 : _navData-> (x,y) = (4074667.36, 591519.37) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161951.13,3648.8062,N,-12158.4360,W,1,03,00.5,058.8,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,161952.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161952.13,3648.8068,N,-12158.4360,W,1,03,00.5,060.9,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161953.00,,,,,0,00,,,M,,M,,*41 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2397.00 : -352.41 : Estimated East Bias at time = 2397.00 : -140.61 : Estimated Depth Bias at time = 2397.00 : -1.31 : Estimated northing and easting = 4074314.95 : 591378.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161953.13,3648.8075,N,-12158.4361,W,1,03,00.5,060.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,161954.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2399.995589 : TerrainNav update at dvl time = 2399.995589 : _navData-> (x,y) = (4074671.12, 591518.94) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,161954.13,3648.8082,N,-12158.4363,W,1,03,00.5,061.6,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,161955.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161955.13,3648.8088,N,-12158.4365,W,1,03,00.5,062.7,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,161956.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 2400.00 : -351.79 : Estimated East Bias at time = 2400.00 : -138.44 : Estimated Depth Bias at time = 2400.00 : -1.30 : Estimated northing and easting = 4074319.33 : 591380.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161956.13,3648.8095,N,-12158.4367,W,1,03,00.5,064.0,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,161957.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : TerrainNav update at nav time = 2402.995384 : TerrainNav update at dvl time = 2402.995384 : _navData-> (x,y) = (4074674.75, 591517.84) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,161957.13,3648.8102,N,-12158.4370,W,1,03,00.5,066.1,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,161958.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,161958.13,3648.8108,N,-12158.4373,W,1,03,00.5,066.5,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,161959.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 2403.00 : -349.65 : Estimated East Bias at time = 2403.00 : -136.79 : Estimated Depth Bias at time = 2403.00 : -1.28 : Estimated northing and easting = 4074325.10 : 591381.05 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,161959.13,3648.8115,N,-12158.4376,W,1,03,00.5,067.2,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162000.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2405.995178 : TerrainNav update at dvl time = 2405.995178 : _navData-> (x,y) = (4074678.33, 591516.55) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162000.13,3648.8121,N,-12158.4378,W,1,03,00.5,066.1,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162001.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162001.13,3648.8127,N,-12158.4381,W,1,03,00.5,066.1,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162002.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2406.00 : -348.75 : Estimated East Bias at time = 2406.00 : -135.81 : Estimated Depth Bias at time = 2406.00 : -1.28 : Estimated northing and easting = 4074329.59 : 591380.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162002.13,3648.8133,N,-12158.4384,W,1,03,00.5,066.8,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162003.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : TerrainNav update at nav time = 2408.994972 : TerrainNav update at dvl time = 2408.994972 : _navData-> (x,y) = (4074681.47, 591515.06) : _tercom->outstandingMeas() = 0 : NMEA Update: $GPGGA,162003.13,3648.8138,N,-12158.4389,W,1,03,00.5,069.3,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162004.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162004.13,3648.8143,N,-12158.4394,W,1,03,00.5,070.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162005.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2408.99 : -347.79 : Estimated East Bias at time = 2408.99 : -134.83 : Estimated Depth Bias at time = 2408.99 : -1.27 : Estimated northing and easting = 4074333.68 : 591380.23 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162005.13,3648.8148,N,-12158.4399,W,1,03,00.5,070.7,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162006.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162005.94,3648.8152,N,-12158.4404,W,1,03,00.5,071.5,M,-99.9,M,,*43 : TerrainNav update at nav time = 2411.994767 : TerrainNav update at dvl time = 2411.994767 : _navData-> (x,y) = (4074684.22, 591512.54) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162007.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162006.94,3648.8156,N,-12158.4411,W,1,03,00.5,071.9,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162008.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2411.99 : -346.20 : Estimated East Bias at time = 2411.99 : -134.28 : Estimated Depth Bias at time = 2411.99 : -1.26 : Estimated northing and easting = 4074338.02 : 591378.26 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162007.94,3648.8160,N,-12158.4417,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162009.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162008.94,3648.8163,N,-12158.4424,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : TerrainNav update at nav time = 2414.994561 : TerrainNav update at dvl time = 2414.994561 : _navData-> (x,y) = (4074686.32, 591509.62) : _tercom->outstandingMeas() = 0 : Estimated North Bias at time = 2414.99 : -345.62 : Estimated East Bias at time = 2414.99 : -134.20 : Estimated Depth Bias at time = 2414.99 : -1.26 : Estimated northing and easting = 4074340.69 : 591375.42 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,162010.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162009.94,3648.8166,N,-12158.4431,W,1,03,00.5,1000.0,M,-99.9,M,,*7c : AshtechGps::processRecord() - $GPGGA,162011.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162010.94,3648.8168,N,-12158.4439,W,1,03,00.5,1000.0,M,-99.9,M,,*72 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162012.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162011.94,3648.8169,N,-12158.4447,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 2417.994356 : TerrainNav update at dvl time = 2417.994356 : _navData-> (x,y) = (4074687.25, 591506.21) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162013.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162012.94,3648.8169,N,-12158.4455,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : AshtechGps::processRecord() - $GPGGA,162014.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2417.99 : -343.11 : Estimated East Bias at time = 2417.99 : -133.84 : Estimated Depth Bias at time = 2417.99 : -1.29 : Estimated northing and easting = 4074344.14 : 591372.37 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162013.94,3648.8168,N,-12158.4463,W,1,03,00.5,1000.0,M,-99.9,M,,*7e : AshtechGps::processRecord() - $GPGGA,162015.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162014.94,3648.8166,N,-12158.4471,W,1,03,00.5,076.6,M,-99.9,M,,*42 : TerrainNav update at nav time = 2420.994150 : TerrainNav update at dvl time = 2420.994150 : _navData-> (x,y) = (4074686.75, 591502.64) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162016.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162015.94,3648.8164,N,-12158.4478,W,1,03,00.5,077.3,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162017.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2420.99 : -341.23 : Estimated East Bias at time = 2420.99 : -134.64 : Estimated Depth Bias at time = 2420.99 : -1.29 : Estimated northing and easting = 4074345.52 : 591368.00 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162016.94,3648.8161,N,-12158.4483,W,1,03,00.5,078.9,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162018.00,,,,,0,00,,,M,,M,,*44 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162017.94,3648.8156,N,-12158.4488,W,1,03,00.5,080.7,M,-99.9,M,,*4c : TerrainNav update at nav time = 2423.993945 : TerrainNav update at dvl time = 2423.993945 : _navData-> (x,y) = (4074684.85, 591500.11) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162019.00,,,,,0,00,,,M,,M,,*45 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162018.94,3648.8151,N,-12158.4490,W,1,03,00.5,079.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162020.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : Estimated North Bias at time = 2423.99 : -340.01 : Estimated East Bias at time = 2423.99 : -137.04 : Estimated Depth Bias at time = 2423.99 : -1.27 : Estimated northing and easting = 4074344.84 : 591363.07 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162019.94,3648.8146,N,-12158.4491,W,1,03,00.5,079.2,M,-99.9,M,,*48 : AshtechGps::processRecord() - $GPGGA,162021.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162020.94,3648.8139,N,-12158.4493,W,1,03,00.5,078.6,M,-99.9,M,,*4d : TerrainNav update at nav time = 2426.993739 : TerrainNav update at dvl time = 2426.993739 : _navData-> (x,y) = (4074681.64, 591499.47) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162022.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162021.94,3648.8132,N,-12158.4493,W,1,03,00.5,079.2,M,-99.9,M,,*42 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162023.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2426.99 : -339.72 : Estimated East Bias at time = 2426.99 : -139.82 : Estimated Depth Bias at time = 2426.99 : -1.27 : Estimated northing and easting = 4074341.91 : 591359.65 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162022.94,3648.8125,N,-12158.4494,W,1,03,00.5,079.2,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162024.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162023.93,3648.8117,N,-12158.4493,W,1,03,00.5,080.4,M,-99.9,M,,*40 : TerrainNav update at nav time = 2429.993534 : TerrainNav update at dvl time = 2429.993534 : _navData-> (x,y) = (4074677.69, 591499.44) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162025.00,,,,,0,00,,,M,,M,,*4A : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162024.93,3648.8110,N,-12158.4492,W,1,03,00.5,081.0,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162026.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2429.99 : -338.83 : Estimated East Bias at time = 2429.99 : -141.99 : Estimated Depth Bias at time = 2429.99 : -1.26 : Estimated northing and easting = 4074338.86 : 591357.46 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162025.93,3648.8102,N,-12158.4489,W,1,03,00.5,081.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162027.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162026.93,3648.8096,N,-12158.4484,W,1,03,00.5,083.2,M,-99.9,M,,*4e : TerrainNav update at nav time = 2432.993328 : TerrainNav update at dvl time = 2432.993328 : _navData-> (x,y) = (4074673.83, 591500.82) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162028.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162027.93,3648.8091,N,-12158.4477,W,1,03,00.5,081.5,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162029.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2432.99 : -338.20 : Estimated East Bias at time = 2432.99 : -144.93 : Estimated Depth Bias at time = 2432.99 : -1.25 : Estimated northing and easting = 4074335.63 : 591355.89 : NMEA Update: $GPGGA,162028.93,3648.8085,N,-12158.4471,W,1,03,00.5,079.5,M,-99.9,M,,*4a : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : AshtechGps::processRecord() - $GPGGA,162030.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162029.93,3648.8079,N,-12158.4466,W,1,03,00.5,080.9,M,-99.9,M,,*44 : TerrainNav update at nav time = 2435.993123 : TerrainNav update at dvl time = 2435.993123 : _navData-> (x,y) = (4074670.72, 591503.61) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162031.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=0 horz=0.05 speedMode=1 speed=1.50 : NMEA Update: $GPGGA,162030.93,3648.8074,N,-12158.4459,W,1,03,00.5,080.1,M,-99.9,M,,*45 : LayeredControl::execute() -- (t = 2482.599930) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2482.599930) Behavior getgps:-1 has changed to state Active : AshtechGps::processRecord() - $GPGGA,162032.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162031.93,3648.8071,N,-12158.4450,W,1,03,00.5,081.6,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : Estimated North Bias at time = 2435.99 : -339.32 : Estimated East Bias at time = 2435.99 : -146.80 : Estimated Depth Bias at time = 2435.99 : -1.25 : Estimated northing and easting = 4074331.40 : 591356.81 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,162033.00,,,,,0,00,,,M,,M,,*4D : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162032.93,3648.8067,N,-12158.4440,W,1,03,00.5,080.8,M,-99.9,M,,*44 : TerrainNav update at nav time = 2439.002917 : TerrainNav update at dvl time = 2439.002917 : _navData-> (x,y) = (4074668.50, 591507.38) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162034.00,,,,,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,162033.93,3648.8064,N,-12158.4429,W,1,03,00.5,082.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162035.00,,,,,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,162034.93,3648.8062,N,-12158.4417,W,1,03,00.5,089.1,M,-99.9,M,,*45 : Estimated North Bias at time = 2439.00 : -341.12 : Estimated East Bias at time = 2439.00 : -149.96 : Estimated Depth Bias at time = 2439.00 : -1.26 : Estimated northing and easting = 4074327.39 : 591357.42 : AshtechGps::processRecord() - $GPGGA,162036.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162035.93,3648.8060,N,-12158.4409,W,1,03,00.5,083.4,M,-99.9,M,,*46 : TerrainNav update at nav time = 2442.002711 : TerrainNav update at dvl time = 2442.002711 : _navData-> (x,y) = (4074667.29, 591512.02) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162037.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162036.93,3648.8060,N,-12158.4402,W,1,03,00.5,086.0,M,-99.9,M,,*4f : Estimated North Bias at time = 2442.00 : -343.03 : Estimated East Bias at time = 2442.00 : -152.46 : Estimated Depth Bias at time = 2442.00 : -1.25 : Estimated northing and easting = 4074324.27 : 591359.55 : AshtechGps::processRecord() - $GPGGA,162038.00,,,,,0,00,,,M,,M,,*46 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162037.93,3648.8061,N,-12158.4391,W,1,03,00.5,082.9,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162039.00,,,,,0,00,,,M,,M,,*47 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162038.93,3648.8062,N,-12158.4381,W,1,03,00.5,082.0,M,-99.9,M,,*4b : TerrainNav update at nav time = 2445.002506 : TerrainNav update at dvl time = 2445.002506 : _navData-> (x,y) = (4074667.57, 591516.16) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162040.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162039.93,3648.8060,N,-12158.4375,W,1,03,00.5,085.1,M,-99.9,M,,*45 : AshtechGps::processRecord() - $GPGGA,162041.00,3648.60127,N,12158.54753,W,1,07,1.7,-16.48,M,-32.92,M,,*4A : 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 : Estimated North Bias at time = 2445.00 : -345.16 : Estimated East Bias at time = 2445.00 : -154.33 : Estimated Depth Bias at time = 2445.00 : -1.22 : Estimated northing and easting = 4074322.41 : 591361.83 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162040.93,3648.6013,N,-12158.5475,W,1,03,00.5,088.9,M,-99.9,M,,*42 : AshtechGps::processRecord() - $GPGGA,162042.00,3648.60025,N,12158.54617,W,1,07,1.7,-10.05,M,-32.92,M,,*44 : 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 : NMEA Update: $GPGGA,162041.93,3648.6002,N,-12158.5461,W,1,03,00.5,088.0,M,-99.9,M,,*4f : TerrainNav update at nav time = 2448.002300 : TerrainNav update at dvl time = 2448.002300 : _navData-> (x,y) = (4074285.13, 591359.77) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162043.00,3648.60037,N,12158.54536,W,1,07,1.7,-10.41,M,-32.92,M,,*46 : GetGPS::execute() -- Got a new GPS hit: 3 of 10 needed : NMEA Update: $GPGGA,162042.93,3648.6004,N,-12158.5452,W,1,03,00.5,088.4,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,162044.00,3648.59945,N,12158.54275,W,1,08,1.1,-5.06,M,-32.92,M,,*79 : GetGPS::execute() -- Got a new GPS hit: 4 of 10 needed : Estimated North Bias at time = 2448.00 : 34.38 : Estimated East Bias at time = 2448.00 : 5.31 : Estimated Depth Bias at time = 2448.00 : -1.22 : Estimated northing and easting = 4074319.51 : 591365.08 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162043.93,3648.5995,N,-12158.5426,W,1,03,00.5,084.0,M,-99.9,M,,*46 : AshtechGps::processRecord() - $GPGGA,162045.00,3648.59875,N,12158.54300,W,1,09,1.0,-3.15,M,-32.92,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,162044.93,3648.5987,N,-12158.5430,W,1,03,00.5,079.7,M,-99.9,M,,*40 : TerrainNav update at nav time = 2451.002095 : TerrainNav update at dvl time = 2451.002095 : _navData-> (x,y) = (4074282.37, 591364.40) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162046.00,3648.59833,N,12158.54218,W,1,09,1.0,-2.22,M,-32.92,M,,*71 : GetGPS::execute() -- Got a new GPS hit: 6 of 10 needed : NMEA Update: $GPGGA,162045.93,3648.5983,N,-12158.5421,W,1,03,00.5,1000.0,M,-99.9,M,,*7d : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162047.00,3648.59774,N,12158.54034,W,1,09,1.0,-0.50,M,-32.92,M,,*77 : GetGPS::execute() -- Got a new GPS hit: 7 of 10 needed : Estimated North Bias at time = 2451.00 : 32.73 : Estimated East Bias at time = 2451.00 : 7.35 : Estimated Depth Bias at time = 2451.00 : -1.20 : Estimated northing and easting = 4074315.10 : 591371.76 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162046.93,3648.5978,N,-12158.5401,W,1,03,00.5,1000.0,M,-99.9,M,,*78 : AshtechGps::processRecord() - $GPGGA,162048.00,3648.59759,N,12158.53987,W,1,09,1.0,-1.40,M,-32.92,M,,*71 : 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,162047.93,3648.5976,N,-12158.5398,W,1,03,00.5,1000.0,M,-99.9,M,,*70 : TerrainNav update at nav time = 2454.001889 : TerrainNav update at dvl time = 2454.001889 : _navData-> (x,y) = (4074280.28, 591369.22) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162049.00,,,,,0,01,,,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,162048.93,3648.5975,N,-12158.5395,W,1,03,00.5,081.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162050.00,,,,,0,00,,,M,,M,,*48 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2454.00 : 32.20 : Estimated East Bias at time = 2454.00 : 8.40 : Estimated Depth Bias at time = 2454.00 : -1.21 : Estimated northing and easting = 4074312.49 : 591377.62 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162049.93,3648.5973,N,-12158.5392,W,1,03,00.5,086.9,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,162051.00,,,,,0,00,,,M,,M,,*49 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162050.93,3648.5972,N,-12158.5387,W,1,03,00.5,087.5,M,-99.9,M,,*47 : TerrainNav update at nav time = 2457.001684 : TerrainNav update at dvl time = 2457.001684 : _navData-> (x,y) = (4074279.66, 591370.73) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162052.00,,,,,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,162051.93,3648.5973,N,-12158.5381,W,1,03,00.5,088.2,M,-99.9,M,,*49 : AshtechGps::processRecord() - $GPGGA,162053.00,,,,,0,00,,,M,,M,,*4B : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : Estimated North Bias at time = 2457.00 : 30.68 : Estimated East Bias at time = 2457.00 : 8.45 : Estimated Depth Bias at time = 2457.00 : -1.21 : Estimated northing and easting = 4074310.35 : 591379.18 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : NMEA Update: $GPGGA,162052.93,3648.5974,N,-12158.5372,W,1,03,00.5,090.0,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,162054.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162053.93,3648.5976,N,-12158.5363,W,1,03,00.5,082.9,M,-99.9,M,,*43 : TerrainNav update at nav time = 2460.001478 : TerrainNav update at dvl time = 2460.001478 : _navData-> (x,y) = (4074280.40, 591374.37) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162055.00,,,,,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,162054.93,3648.5978,N,-12158.5357,W,1,03,00.5,084.5,M,-99.9,M,,*47 : Estimated North Bias at time = 2460.00 : 28.17 : Estimated East Bias at time = 2460.00 : 6.03 : Estimated Depth Bias at time = 2460.00 : -1.21 : Estimated northing and easting = 4074308.57 : 591380.40 : AshtechGps::processRecord() - $GPGGA,162056.00,,,,,0,00,,,M,,M,,*4E : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : DynamicControlServer:: TerrainNav has new data. Valid = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162055.93,3648.5977,N,-12158.5355,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : AshtechGps::processRecord() - $GPGGA,162057.00,,,,,0,00,,,M,,M,,*4F : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162056.93,3648.5978,N,-12158.5351,W,1,03,00.5,1000.0,M,-99.9,M,,*7b : TerrainNav update at nav time = 2463.001273 : TerrainNav update at dvl time = 2463.001273 : _navData-> (x,y) = (4074280.86, 591376.19) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162058.00,,,,,0,00,,,M,,M,,*40 : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162057.93,3648.5979,N,-12158.5348,W,1,03,00.5,1000.0,M,-99.9,M,,*73 : Estimated North Bias at time = 2463.00 : 27.28 : Estimated East Bias at time = 2463.00 : 7.53 : Estimated Depth Bias at time = 2463.00 : -1.20 : Estimated northing and easting = 4074308.14 : 591383.72 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,162059.00,,,,,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,162058.93,3648.5979,N,-12158.5346,W,1,03,00.5,083.4,M,-99.9,M,,*4c : AshtechGps::processRecord() - $GPGGA,162100.00,,,,,0,00,,,M,,M,,*4C : AshtechGps::processRecord() - GpsUtils::hemisphere() - bad hemisphere value: , : NMEA Update: $GPGGA,162059.93,3648.5980,N,-12158.5344,W,1,03,00.5,086.3,M,-99.9,M,,*4b : TerrainNav update at nav time = 2466.001067 : TerrainNav update at dvl time = 2466.001067 : _navData-> (x,y) = (4074281.10, 591377.22) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=2 vert=0.00 horzlMode=0 horz=0.00 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162101.00,3648.59685,N,12158.53573,W,1,05,4.7,2.49,M,-32.92,M,,*53 : GetGPS::execute() -- Got a new GPS hit: 9 of 10 needed : NMEA Update: $GPGGA,162100.93,3648.5969,N,-12158.5357,W,1,03,00.5,082.5,M,-99.9,M,,*41 : Estimated North Bias at time = 2466.00 : 26.88 : Estimated East Bias at time = 2466.00 : 8.52 : Estimated Depth Bias at time = 2466.00 : -1.20 : Estimated northing and easting = 4074307.98 : 591385.74 : DynamicControlServer:: TerrainNav has new data. Valid = 0 : AshtechGps::processRecord() - $GPGGA,162102.00,3648.59440,N,12158.53277,W,1,06,4.6,-4.28,M,-32.92,M,,*76 : GetGPS::execute() -- Got a new GPS hit: 10 of 10 needed : LayeredControl::execute() -- (t = 2512.797862) Behavior getgps:-1 has changed to state Finished : Stack empty after processing. Aborting. : *** LayeredControl - initiating mission abort... *** : Initiating Mission Abort! : **** EventTriggers::add() - attaching proxy : LayeredControl::execute() -- (t = 2512.997848) Behavior ascend:-1 has changed to state Finished : LayeredControl::execute() -- (t = 2512.997848) Behavior setpoint:-1 has changed to state Active : LayeredControl::execute() -- (t = 2512.997848) Behavior missionTimer:-1 has changed to state Active : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162101.93,3648.5944,N,-12158.5328,W,1,03,00.5,083.0,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162103.00,3648.59569,N,12158.53291,W,1,06,4.6,-2.44,M,-32.92,M,,*79 : NMEA Update: $GPGGA,162102.93,3648.5957,N,-12158.5329,W,1,03,00.5,081.6,M,-99.9,M,,*47 : TerrainNav update at nav time = 2469.000862 : TerrainNav update at dvl time = 2469.000862 : _navData-> (x,y) = (4074277.00, 591379.49) : _tercom->outstandingMeas() = 0 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162104.00,3648.59563,N,12158.53310,W,1,06,4.6,1.76,M,-32.92,M,,*53 : NMEA Update: $GPGGA,162103.93,3648.5956,N,-12158.5331,W,1,03,00.5,083.5,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162105.00,3648.59593,N,12158.53358,W,1,06,4.6,6.91,M,-32.92,M,,*5F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162104.74,3648.5959,N,-12158.5335,W,1,03,00.5,081.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162106.00,3648.59603,N,12158.53216,W,1,06,4.6,5.94,M,-32.92,M,,*5B : NMEA Update: $GPGGA,162105.73,3648.5960,N,-12158.5321,W,1,03,00.5,079.7,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,162107.00,3648.59515,N,12158.53087,W,1,09,1.2,4.14,M,-32.92,M,,*53 : NMEA Update: $GPGGA,162106.74,3648.5952,N,-12158.5307,W,1,03,00.5,090.4,M,-99.9,M,,*41 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162108.00,3648.59555,N,12158.53060,W,1,09,1.2,3.63,M,-32.92,M,,*56 : NMEA Update: $GPGGA,162107.73,3648.5956,N,-12158.5305,W,1,03,00.5,083.3,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162109.00,3648.59546,N,12158.52990,W,1,09,1.2,1.77,M,-32.92,M,,*55 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162108.73,3648.5954,N,-12158.5298,W,1,03,00.5,080.7,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162110.00,3648.59524,N,12158.52951,W,1,10,0.9,-0.35,M,-32.92,M,,*7C : NMEA Update: $GPGGA,162109.73,3648.5953,N,-12158.5294,W,1,03,00.5,084.6,M,-99.9,M,,*44 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162111.00,3648.59554,N,12158.53017,W,1,10,0.9,-0.32,M,-32.92,M,,*77 : NMEA Update: $GPGGA,162110.73,3648.5955,N,-12158.5302,W,1,03,00.5,081.7,M,-99.9,M,,*40 : AshtechGps::processRecord() - $GPGGA,162112.00,3648.59531,N,12158.53058,W,1,10,0.9,-0.64,M,-32.92,M,,*7F : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162111.54,3648.5955,N,-12158.5303,W,1,03,00.5,081.6,M,-99.9,M,,*44 : AshtechGps::processRecord() - $GPGGA,162113.00,3648.59530,N,12158.53082,W,1,10,0.9,-0.19,M,-32.92,M,,*72 : NMEA Update: $GPGGA,162112.53,3648.5953,N,-12158.5307,W,1,03,00.5,084.8,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162113.34,3648.5953,N,-12158.5308,W,1,03,00.5,082.7,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162114.00,3648.59526,N,12158.53050,W,1,10,0.9,0.59,M,-32.92,M,,*54 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162114.33,3648.5952,N,-12158.5304,W,1,03,00.5,086.6,M,-99.9,M,,*47 : AshtechGps::processRecord() - $GPGGA,162115.00,3648.59490,N,12158.53000,W,1,10,0.9,1.81,M,-32.92,M,,*58 : NMEA Update: $GPGGA,162115.14,3648.5949,N,-12158.5299,W,1,03,00.5,086.4,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162116.00,3648.59482,N,12158.52902,W,1,10,0.9,2.26,M,-32.92,M,,*5C : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162116.13,3648.5948,N,-12158.5289,W,1,03,00.5,086.5,M,-99.9,M,,*4b : AshtechGps::processRecord() - $GPGGA,162117.00,3648.59470,N,12158.52804,W,1,10,0.9,1.57,M,-32.92,M,,*52 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162117.13,3648.5947,N,-12158.5278,W,1,03,00.5,084.3,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162118.00,3648.59465,N,12158.52739,W,1,10,0.9,1.46,M,-32.92,M,,*58 : NMEA Update: $GPGGA,162118.13,3648.5946,N,-12158.5272,W,1,03,00.5,084.5,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162119.00,3648.59441,N,12158.52667,W,1,10,0.9,0.91,M,-32.92,M,,*5E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162119.13,3648.5944,N,-12158.5265,W,1,03,00.5,084.3,M,-99.9,M,,*4e : AshtechGps::processRecord() - $GPGGA,162120.00,3648.59443,N,12158.52623,W,1,10,0.9,0.34,M,-32.92,M,,*59 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162119.94,3648.5944,N,-12158.5261,W,1,03,00.5,083.2,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162121.00,3648.59428,N,12158.52613,W,1,10,0.9,0.06,M,-32.92,M,,*57 : NMEA Update: $GPGGA,162120.93,3648.5943,N,-12158.5261,W,1,03,00.5,082.7,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,162122.00,3648.59442,N,12158.52601,W,1,10,0.9,-0.21,M,-32.92,M,,*73 : NMEA Update: $GPGGA,162121.93,3648.5944,N,-12158.5260,W,1,03,00.5,083.1,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162123.00,3648.59447,N,12158.52609,W,1,10,0.9,-0.63,M,-32.92,M,,*79 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162122.93,3648.5945,N,-12158.5261,W,1,03,00.5,085.6,M,-99.9,M,,*4f : AshtechGps::processRecord() - $GPGGA,162124.00,3648.59424,N,12158.52603,W,1,10,0.9,-0.56,M,-32.92,M,,*77 : NMEA Update: $GPGGA,162123.93,3648.5942,N,-12158.5260,W,1,03,00.5,083.1,M,-99.9,M,,*49 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162125.00,3648.59420,N,12158.52582,W,1,10,0.9,-0.10,M,-32.92,M,,*7A : NMEA Update: $GPGGA,162124.74,3648.5941,N,-12158.5258,W,1,03,00.5,080.0,M,-99.9,M,,*4d : AshtechGps::processRecord() - $GPGGA,162126.00,3648.59402,N,12158.52556,W,1,10,0.9,0.20,M,-32.92,M,,*5E : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : NMEA Update: $GPGGA,162125.73,3648.5940,N,-12158.5255,W,1,03,00.5,083.7,M,-99.9,M,,*43 : AshtechGps::processRecord() - $GPGGA,162127.00,3648.59421,N,12158.52503,W,1,10,0.9,0.60,M,-32.92,M,,*5A : NMEA Update: $GPGGA,162126.73,3648.5942,N,-12158.5250,W,1,03,00.5,079.5,M,-99.9,M,,*40 : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162128.00,3648.59406,N,12158.52474,W,1,10,0.9,0.40,M,-32.92,M,,*53 : NMEA Update: $GPGGA,162127.54,3648.5942,N,-12158.5250,W,1,03,00.5,084.9,M,-99.9,M,,*4a : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162129.00,3648.59373,N,12158.52460,W,1,10,0.9,0.54,M,-32.92,M,,*57 : NMEA Update: $GPGGA,162128.54,3648.5940,N,-12158.5247,W,1,03,00.5,087.2,M,-99.9,M,,*49 : NMEA Update: $GPGGA,162129.78,3648.5938,N,-12158.5246,W,1,03,00.5,080.3,M,-99.9,M,,*4e : LayeredControl _resolvedCommand - vertMode=1 vert=0.52 horzlMode=1 horz=3.14 speedMode=1 speed=0.00 : AshtechGps::processRecord() - $GPGGA,162130.00,3648.59394,N,12158.52431,W,1,10,0.9,0.52,M,-32.92,M,,*54 : TerrainAid::Caught exception in TerrainNav : TerrainNav update at nav time = 2496.149002 : TerrainNav update at dvl time = 2496.149002 : _navData-> (x,y) = (4074273.44, 591391.83) : _tercom->outstandingMeas() = 0 : AshtechGps::processRecord() - $GPGGA,162131.00,3648.59331,N,12158.52400,W,1,09,1.0,0.90,M,-32.92,M,,*56 MAPIO::mapdata_fill: Out of memory. Failed to allocate memory for a mapdata structure Assertion failed: value != NULL, file putget.c, line 3593 : NMEA Update: $GPGGA,162130.60,3648.5933,N,-12158.5240,W,1,03,00.5,073.5,M,-99.9,M,,*48 : TaskServer::signalHandler() for task TerrainAidIFServer - exit() on signal 18 : **** SharedData destructor for object TerrainAidOutput **** : NMEA Update: $GPGGA,162131.41,3648.5933,N,-12158.5238,W,1,03,00.5,073.5,M,-99.9,M,,*45 : dynamicControlServer - caught Exception: Server "TerrainAidIFServer" not found : AshtechGps::processRecord() - $GPGGA,162132.00,3648.59342,N,12158.52360,W,1,10,0.9,0.44,M,-32.92,M,,*59 : layeredControl - caught SharedObject::Error Server "DynamicControlIFServer" not found //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/layeredControl terminated (SIGSEGV) at 0007:00044650. : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::forwardEvent() - No such process : **** SharedData destructor for object LayeredControlInput_ShmemName **** : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : NMEA Update: $GPGGA,162132.40,3648.5934,N,-12158.5236,W,1,03,00.5,082.4,M,-99.9,M,,*41 : AshtechGps::processRecord() - $GPGGA,162133.00,3648.59296,N,12158.52355,W,1,10,0.9,0.35,M,-32.92,M,,*50 : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : TaskServer::forwardEvent() - No such process : NMEA Update: $GPGGA,162133.40,3648.5929,N,-12158.5235,W,1,03,00.5,073.8,M,-99.9,M,,*4d : Task "layeredControlServer" died? Supervisor::createTask() - layeredControlServer : Task "dynamicControlServer" died? Supervisor::createTask() - dynamicControlServer : AshtechGps::processRecord() - $GPGGA,162134.00,3648.59314,N,12158.52336,W,1,11,0.9,1.30,M,-32.92,M,,*5C : TaskServer::forwardEvent() - No such process : Task "terrainAidServer" died? Supervisor::createTask() - terrainAidServer : Supervisor::Supervisor() - task(s) died; exiting : TaskServer::forwardEvent() - No such process : Supervisor::shutdown() : **** SharedData destructor for object ParosciOutput_ShmemName **** : TaskServer::signalHandler() for task WorkSiteIFServer - exit() on signal 2 : TaskServer::signalHandler() for task TailConeIFServer - exit() on signal 2 : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DvlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task UsblIFServer - exit() on signal 2 : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 2 : TaskServer::signalHandler() for task VehicleConfigurationIFServer - exit() on signal 2 : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 2 : Supervisor::signalHandler(); caught signal 2 : DropWeight Destructor 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 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 2 : TaskServer::signalHandler() for task DropWeightIFServer - exit() on signal 2 : TaskServer::signalHandler() for task EchoSounderIFServer - exit() on signal 2 : CameraDestructor Executing. : **** SharedData destructor for object GpsOutput_ShmemName **** : StepGetStat(2): checksum error //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dynamicControlServer terminated (SIGSEGV) at 10A3:000017E3. : NavigationOutput::~NavigationOutput() : Supervisor::signalHandler(); caught signal 2 : TaskServer::signalHandler() for task ExternalCommsIFServer - exit() on signal 18 : **** SharedData destructor for object navigationOutput **** : SerialDeviceExt::closeSD() - closed : TaskServer::signalHandler() for task BenthosModemServer - exit() on signal 18 : TaskServer::signalHandler() for task LayeredControlIFServer - exit() on signal 18 : TaskServer::signalHandler() for task DepthSensorIFServer - exit() on signal 18 : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 18 : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1 **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object SonardyneOutput_ShmemName **** : **** SharedData destructor for object m3dmgx1Cmd **** : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : **** SharedData destructor for object GpsOutput_ShmemName **** : **** SharedData destructor for object DvlOutput_ShmemName **** : **** SharedData destructor for object CameraOutput **** : Supervisor::signalHandler(); Never received a SIGTERM from slay, or a SIGQUIT. I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES! To prevent a weight-drop, you must manually start dropWeightServer before the countdown timer expires. See devices.cfg for the syntax and serial port number. : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object EchoSounderOutput_ShmemName **** : Supervisor::signalHandler(); Never received a SIGTERM from slay, or a SIGQUIT. I WILL START BURNING THE DROP WEIGHT WIRE IN 15 MINUTES! To prevent a weight-drop, you must manually start dropWeightServer before the countdown timer expires. See devices.cfg for the syntax and serial port number. : **** SharedData destructor for object m3dmgx1 **** : TaskServer::signalHandler() for task CameraIFServer - exit() on signal 18 : **** SharedData destructor for object BenthosModemOutout **** : **** SharedData destructor for object dropWeightOutput **** : **** SharedData destructor for object LayeredControlInput_ShmemName **** : TaskServer::signalHandler() for task GpsIFServer - exit() on signal 18 : **** SharedData destructor for object ParosciOutput_ShmemName **** : NavigationOutput::~NavigationOutput() : **** SharedData destructor for object m3dmgx1Cmd **** : SerialDeviceExt::closeSD() - closed : **** SharedData destructor for object TailConeOutput_ShmemName **** : Supervisor::cleanup() - delete _theSupervisor : Supervisor::cleanup() - delete _theSupervisor : TaskServer::signalHandler() for task AhrsIFServer - exit() on signal 18 : **** SharedData destructor for object LayeredControlOutput_ShmemName **** : **** SharedData destructor for object navigationOutput **** : Supervisor::shutdown() : Supervisor::shutdown() : Supervisor::shutdown() - done() : TaskServer::signalHandler() - _theTaskServer doesn't exist : TaskServer::signalHandler() for task NavigationIFServer - exit() on signal 2 : Supervisor::shutdown() - done() : TaskServer::signalHandler() - _theTaskServer doesn't exist : **** SharedData destructor for object TailConeInput_ShmemName **** : **** SharedData destructor for object TailConeOutput_ShmemName **** : SerialDevice: done... : Dvl::~Dvl: Destructor Finished. //10/home/dorado1/auv-qnx/auv/altex/onboard/bin/dvl terminated (SIGSEGV) at 0007:0002456F.